Event-triggered Distributed Formation Control of Second-order Nonlinear Multi-agent Systems Subjected to Input Constraints

被引：0

作者：

Guo, Yaohua ^{[1
]}

Zhou, Jun ^{[1
]}

机构：

[1] Northwestern Polytech Univ, Sch Astronaut, Xian 710072, Shaanxi, Peoples R China

来源：

2019 18TH EUROPEAN CONTROL CONFERENCE (ECC) | 2019年

关键词：

CONSENSUS; DESIGN;

D O I：

10.23919/ecc.2019.8795758

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper addresses the distributed formation control of nonlinear second-order multi-agent systems in the presence of input saturation. A new event-triggered based controller is proposed for eliminating both continuous communication among agents and control updating. The additional nonlinearity caused by input constraints is compensated by a piecewise antiwindup compensator. Based on the proposed control strategy and triggering condition, the closed-loop system's stability and zeno-behavior elimination are shown via Lyapunov-based method. The effectiveness of theoretical results are demonstrated by the numerical simulations.

引用

页码：1306 / 1311

页数：6

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