Nussbaum-Functions-Based Bipartite Tracking Control Using ABOS for Stochastic Nonlinear Systems With Nonaffine Structure

The adaptive bipartite tracking control problem of multi-agents stochastic nonlinear systems with nonaffine structure is solved. The agents bipartition optimization strategy (ABOS) is proposed in order to achieve the bipartite tracking control objective of the systems that we consider in this paper. Then, the unknown control gains are handled by introducing Nussbaum functions. In addition, an appropriate event-triggered control mechanism is introduced to avoid the waste of communication resources among agents. Finally, the simulation example shows the effectiveness of the proposed design scheme.