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<p>This paper investigates the problem of time-varying formation control (TVFC) for fractional-order nonlinear multi-agent systems (FO-NMASs) under a leader-follower architecture, by employing a dynamic event-trigger-based adaptive dual sliding surfaces strategy. Firstly, a fractional-order state observer is designed to convert the TVFC problem into an asymptotic stability problem of the dual-error system. The finite-time reachability of the sliding surfaces is guaranteed, and the closed-loop system exhibits asymptotic convergence in the fractional-order sense. Secondly, based on a linear combination of measurement vectors, a new dynamic event-triggered mechanism (DETM) is proposed. By introducing auxiliary variables, the threshold for each agent can be dynamically adjusted, unlike traditional triggering mechanisms where parameters remain fixed. Finally, the proposed dual-surface SMC (DsSMC) approach, when combined with the DETM, is validated through simulations, which highlight its capability to maintain precise formation control with fewer sampling instances. The numerical analysis further supports its efficiency in enhancing overall system performance.</p>

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Time-varying formation control of fractional-order nonlinear multi-agent systems via adaptive dynamic event-trigger-based dual sliding surfaces strategy

  • 期刊论文

  • 发表日期：

    2026年7月14日

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  • Xin Meng,
  • Zhen Liu,
  • Baoping Jiang

摘要

This paper investigates the problem of time-varying formation control (TVFC) for fractional-order nonlinear multi-agent systems (FO-NMASs) under a leader-follower architecture, by employing a dynamic event-trigger-based adaptive dual sliding surfaces strategy. Firstly, a fractional-order state observer is designed to convert the TVFC problem into an asymptotic stability problem of the dual-error system. The finite-time reachability of the sliding surfaces is guaranteed, and the closed-loop system exhibits asymptotic convergence in the fractional-order sense. Secondly, based on a linear combination of measurement vectors, a new dynamic event-triggered mechanism (DETM) is proposed. By introducing auxiliary variables, the threshold for each agent can be dynamically adjusted, unlike traditional triggering mechanisms where parameters remain fixed. Finally, the proposed dual-surface SMC (DsSMC) approach, when combined with the DETM, is validated through simulations, which highlight its capability to maintain precise formation control with fewer sampling instances. The numerical analysis further supports its efficiency in enhancing overall system performance.