Yue Xia, Liu Jiarui, Chen Kairui, Zhang Yuanqing, Hu Zikai
School of Mechanical and Electrical Engineering, Guangzhou University, Guangzhou, China.
School of Computer and Information, Qiannan Normal University for Nationalities, Guizhou, China.
Front Neurorobot. 2023 Jan 19;16:1103462. doi: 10.3389/fnbot.2022.1103462. eCollection 2022.
In this paper, a prescribed performance adaptive event-triggered consensus control method is developed for a class of multiagent systems with the consideration of input dead zone and saturation. In practical engineering applications, systems are inevitably suffered from input saturation. In addition, input dead zone is widely existing. As the larger signal is limited and the smaller signal is difficult to effectively operate, system efficacious input encounters unknown magnitude limitations, which seriously impact system control performance and even lead to system instability. Furthermore, when constrained multiagent systems are required to converge quickly, the followers would achieve it with drastic and quick variation of states, which may violate the constraints and even cause security problems. To address those problems, an adaptive event-triggered consensus control is proposed. By constructing the transform function and the barrier Lyapunov function, while state constrained is guaranteed, multiagent systems quickly converge with prescribed performance. Finally, some examples are adopted to confirm the effectiveness of the proposed control method.
本文针对一类多智能体系统，考虑输入死区和饱和问题，提出了一种具有规定性能的自适应事件触发一致性控制方法。在实际工程应用中，系统不可避免地会受到输入饱和的影响。此外，输入死区广泛存在。由于大信号受限且小信号难以有效运行，系统有效输入会遇到未知大小的限制，这严重影响系统控制性能，甚至导致系统不稳定。此外，当要求受约束的多智能体系统快速收敛时，跟随者会通过状态的剧烈快速变化来实现，这可能会违反约束甚至导致安全问题。为了解决这些问题，提出了一种自适应事件触发一致性控制方法。通过构造变换函数和障碍Lyapunov函数，在保证状态约束的同时，多智能体系统以规定性能快速收敛。最后，通过一些例子验证了所提控制方法的有效性。
