Event-Based Distributed Average Tracking of Nth-Order Heterogeneous Multi-Agent Systems with Uncertainties

In this paper, the event-triggered distributed average tracking (ETDAT) is studied for a nth-order heterogeneous multi-agent system (MAS) with uncertainties and disturbances. The reference system and its control protocol are designed to make the reference system track the distributed average of the target system. Then the system realize its tracking of the reference system, finally tracking the target system. An event-triggered controller is designed for the reference system. The uncertain parts of the system are estimated with adaptive control method (ACM), and then the control protocol is designed to track its reference system. Then the Lyapunov function is used to verify the convergence of the algorithm and ensure that Zeno behavior will not occur. Finally, the effectiveness of the algorithm is verified by numerical simulation.