This paper deals with the leaderless consensus controller design for nonlinear multi-agent systems (MASs) subject to the input saturation nonlinearity by using an event-triggered (ET) mechanism. An adaptive ET scheme has been established with variable threshold parameter for attaining an efficient control bandwidth. Linear parameter varying (LPV) formulation and region of stability investigation for dealing with the inherent nonlinearity and input saturation, respectively, are focused in the study. A consensus controller design condition has been formulated to ensure the regional stability, to determine the consensus protocol gains, to choose the parameters of ET mechanism, and to select an appropriate adaptation law for ET control. Elimination of Zeno behavior, based on nonlinearity bounds, for the adaptive ET mechanism has been ensured through a rigorous analysis. In contrast to excising methods, a directed communication topology, adaptive ET mechanism, and removal of Zeno behavior as well as elimination of the windup effect of saturation have been considered in our work. A simulation study has been provided for six robotic agents and comparison results with the existing method are revealed.

本文通过使用事件触发 (ET) 机制处理受输入饱和非线性影响的非线性多智能体系统 (MAS) 的无领导共识控制器设计。已经建立了具有可变阈值参数的自适应 ET 方案，以获得有效的控制带宽。研究的重点是分别用于处理固有非线性和输入饱和的线性参数变化 (LPV) 公式和稳定性研究区域。制定了共识控制器设计条件，以保证区域稳定，确定共识协议收益，选择ET机制的参数，选择合适的ET控制适应律。基于非线性边界消除芝诺行为，通过严格的分析确保了自适应 ET 机制。与切除方法相比，我们的工作已经考虑了定向通信拓扑、自适应 ET 机制和 Zeno 行为的去除以及饱和饱和效应的消除。对六个机器人代理进行了模拟研究，并揭示了与现有方法的比较结果。