Self-Triggered Adaptive Bipartite Tracking Control for Nonlinear MASs With Unmatched Disturbances and Backlash-Like Hysteresis

In this brief, the problem of adaptive bipartite tracking control for nonlinear multi-agent systems with unmatched disturbances and backlash-like hysteresis is investigated. Cooperative and competitive relationships in multi-agent systems are taken into account, which represents a frequently occurring situation. To decrease unnecessary data transmissions, an innovative distributed adaptive self-triggered control protocol is proposed. In contrast to the traditional self-triggered control strategy, the scheme designed in this brief can adaptively adjust the trigger intervals according to system performances. Furthermore, a command filter is introduced into the design process to solve the problem of complexity explosion. The effect of backlash-like hysteresis is successfully compensated by the designed controller. Finally, a practical example is implemented to demonstrate the effectiveness of the proposed scheme.