Adaptive Fuzzy Event-Triggered Cooperative Control for Multi-Robot Systems: A Predefined-Time Strategy

被引：2

作者：

Tian, Xuehong ^{[1
,2
]}

Huang, Xin ^{[1
,2
]}

Liu, Haitao ^{[1
,2
]}

Mai, Qingqun ^{[1
,2
]}

机构：

[1] Guangdong Ocean Univ, Shenzhen Inst, Shenzhen 518120, Peoples R China

[2] Guangdong Ocean Univ, Sch Mech Engn, Zhanjiang 524088, Peoples R China

来源：

SENSORS | 2023年 / 23卷 / 18期

关键词：

predefined-time cooperative control; asymmetric tan-type barrier Lyapunov function; predefined-time fuzzy logic system; dynamic relative threshold event triggering; multi-robot systems; MULTIAGENT SYSTEMS; CONSENSUS CONTROL;

D O I：

10.3390/s23187950

中图分类号：

O65 [分析化学];

学科分类号：

070302 ; 081704 ;

摘要：

A predefined-time adaptive fuzzy cooperative controller with event triggering is proposed for multi-robot systems that takes into account external disturbances, input saturation, and model uncertainties in this paper. First, based on the asymmetric tan-type barrier Lyapunov function, a predefined-time controller is proposed to acquire a quick response and more precise convergence time under the directed communication topology. Second, predefined-time fuzzy logic systems are developed to approximate external disturbances and model uncertainties. Third, a dynamic relative threshold event-triggered mechanism is improved to save the communication resources of the robots. Subsequently, the proof procedure for the predefined-time stability is given using the Lyapunov stability theorem. Finally, some simulation examples, including a comparative experi-ment on multi-robot systems, are provided to test the effectiveness of the above algorithm.

引用

页数：21

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