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.