Self‐triggered control for multi‐agent systems with unknown non‐linear inherent dynamics

This study focuses on the design of self‐triggered controls for first‐order multi‐agent systems with unknown inherent non‐linear dynamics. First, conditions that guarantee the existence of a self‐triggered control are provided to solve the consensus problem under fixed communication topologies if the graph has a directed spanning tree. Then, self‐triggered strategy under switching communication topologies is studied using polynomial approximations of multiple Lyapunov functions. A methodology for the computation of the feedback gain and the control update time is given. Simulation results show the effectiveness of the proposed strategy.