Adaptive Robust Cooperative Tracking Under Event-Triggered Communication and Control

Achieving desired cooperative tracking under limited onboard resources is an interesting yet challenging issue. This article proposes a fully distributed adaptive double event-triggered framework to solve the time-critical cooperative tracking problem of multiagent systems with unknown disturbances. We first design a neighborhood-weighted event-triggered communication function to create a pathway to achieve fixed-time convergence without any global network information. By developing an integral sliding manifold, we manage to separate the design of event-triggered communication and adaptive event-triggered control for disturbance rejection. This approach provides a feasible design tool that not only extends single or double event-triggered strategies to adaptive double event-triggered strategies but also handles unknown external disturbances. Besides, we rigorously derive sufficient conditions for guaranteeing the feasibility of the proposed algorithm and exclude Zeno behavior. Extensive simulations and experiments on multiple quadrotors are conducted.