Event-Triggered Observation-Based Control of Nonlinear Mixed-Order Multiagent Systems Under Input Saturation

In this article, the event-triggered observation-based tracking control issue of nonlinear mixed-order multiagent systems (MASs) under the actuator saturation is investigated. The studied mixed-order MASs include heterogeneous agents which have nonidentical orders of dynamics and different quantities and types of states to be synchronized. To relieve the communication load and decrease the tear and wear due to the frequent regulation of actuators, a distributed cooperative tracking control strategy utilizing the event-triggered mechanism is proposed to realize the final synchronization for all nonlinear mixed-order followers. In addition, the distributed disturbance observer is developed for the heterogeneous followers to lower the impact of unknown dynamics and external disturbances. And, the actuator saturation problem is considered to ensure the wider applicability of the presented control strategy in actual applications. The stability of the controlled mixed-order MASs is proved by Lyapunov theory for ensuring the synchronization of all states under the proposed event-triggered observation-based cooperative control strategy. Finally, the example of unmanned aerial vehicle is utilized to verify the effectiveness of the consensus cooperative control strategy.