This article delves into the challenge of the fixed-time formation tracking control problem of uncertain nonlinear multi-agent systems (MAS) based on event-triggered mechanism (ETM). To address the singularity problem in traditional fixed-time control, the adding power integrator technique (APIT) is adopted to achieve fixed-time formation tracking control. Additionally, to conserve communication resources in unmanned systems, an event-triggered mechanism is introduced, and the dynamic surface control method (DSC) is integrated to tackle the issue of differential explosion. Based on the Lyapunov stability principle, the proposed controller ensures that the multi-agent system converges and remains stable within a fixed time frame, without exhibiting the Zeno phenomenon. Finally, simulation experiments are conducted to verify the effectiveness of the algorithm.

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Fixed-Time Tracking Control of Uncertain Nonlinear MAS Based on ETM and APIT

  • Bolin Wang,
  • Amlakyalew Worku Almebo,
  • Dawei Wu,
  • Xiaoqi Huang

摘要

This article delves into the challenge of the fixed-time formation tracking control problem of uncertain nonlinear multi-agent systems (MAS) based on event-triggered mechanism (ETM). To address the singularity problem in traditional fixed-time control, the adding power integrator technique (APIT) is adopted to achieve fixed-time formation tracking control. Additionally, to conserve communication resources in unmanned systems, an event-triggered mechanism is introduced, and the dynamic surface control method (DSC) is integrated to tackle the issue of differential explosion. Based on the Lyapunov stability principle, the proposed controller ensures that the multi-agent system converges and remains stable within a fixed time frame, without exhibiting the Zeno phenomenon. Finally, simulation experiments are conducted to verify the effectiveness of the algorithm.