| Proj No. | A1076-251 |
| Title | Event-Triggered Leader-Follower Consensus of Nonlinear Multi-Agent Systems via Adaptive Backstepping Control |
| Summary | Leader-follower consensus control is pivotal in cooperative multi-agent systems (MAS), enabling applications such as autonomous vehicle platooning, distributed sensor networks, and collaborative robotics. In real-world scenarios, agents often exhibit nonlinear dynamics with parametric uncertainties (e.g., unmodeled friction, varying payloads), posing significant challenges to achieving precise consensus. Traditional control methods typically assume continuous communication among agents, which is impractical due to limited bandwidth and energy constraints. While event-triggered mechanisms (ETMs) have been proposed to reduce communication frequency by updating control signals only when necessary, integrating them with nonlinear and uncertain dynamics remains an open problem. The referenced work "Adaptive backstepping based consensus tracking of uncertain nonlinear systems with event-triggered communication" addresses this gap by combining adaptive backstepping control with ETMs. Adaptive backstepping, a recursive Lyapunov-based technique, systematically handles nonlinearities and uncertainties without requiring precise system models. By embedding ETMs into this framework, communication resources are conserved while maintaining consensus accuracy. This project aims to design an event-triggered adaptive backstepping controller for nonlinear MAS with leader-follower topology. Students need to analyze stability using Lyapunov theory to ensure bounded tracking errors and Zeno-free triggering and validate the algorithm via Simulink simulations on a nonlinear MAS case study. |
| Supervisor | Prof Wen Changyun (Loc:S2 > S2 B2B > S2 B2B 45, Ext: +65 67904947) |
| Co-Supervisor | - |
| RI Co-Supervisor | - |
| Lab | INTEGRATED SYSTEMS RESEARCH (Loc: S1-B2A-04) |
| Single/Group: | Single |
| Area: | Intelligent Systems and Control Engineering |
| ISP/RI/SMP/SCP?: |