Dual-channel event-triggered prescribed performance adaptive fuzzy time-varying formation tracking control for nonlinear multi-agent systems
This paper is concerned with the problem of dual-channel event-triggered prescribed performance adaptive fuzzy time-varying formation tracking control for multi-agent systems subject to actuator saturation, in which state variables are unmeasurable and nonlinear functions are totally unknown. A fuzz...
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| Published in | Fuzzy sets and systems Vol. 498; p. 109140 |
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| Main Authors | , , , , , |
| Format | Journal Article |
| Language | English |
| Published |
Elsevier B.V
01.01.2025
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| Subjects | |
| Online Access | Get full text |
| ISSN | 0165-0114 |
| DOI | 10.1016/j.fss.2024.109140 |
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| Abstract | This paper is concerned with the problem of dual-channel event-triggered prescribed performance adaptive fuzzy time-varying formation tracking control for multi-agent systems subject to actuator saturation, in which state variables are unmeasurable and nonlinear functions are totally unknown. A fuzzy state observer is constructed to estimate unmeasurable states. Meanwhile, fuzzy logic systems are used to approximate unknown nonlinear functions. To effectively save the usage of communication resources, this paper designs both sensor output signal and control signal triggering mechanisms, respectively. Unfortunately, the output triggering can lead to a problem that virtual control laws are non-differentiable. To solve this problem, we first utilize observer output signals to construct virtual control laws to ensure the first-order differentiation of virtual control laws. Then, a dynamic filtering technology is introduced to avoid the repeated differentiation of virtual control laws. Furthermore, an improved first-order auxiliary system is designed to compensate for the impact of actuator saturation. It is shown that the designed controller can guarantee tracking errors steer to a preset accuracy within a prescribed settling time, and all signals in the closed-loop system are semi-globally uniformly ultimately bounded. Finally, simulation results verify the effectiveness of the developed control scheme. |
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| AbstractList | This paper is concerned with the problem of dual-channel event-triggered prescribed performance adaptive fuzzy time-varying formation tracking control for multi-agent systems subject to actuator saturation, in which state variables are unmeasurable and nonlinear functions are totally unknown. A fuzzy state observer is constructed to estimate unmeasurable states. Meanwhile, fuzzy logic systems are used to approximate unknown nonlinear functions. To effectively save the usage of communication resources, this paper designs both sensor output signal and control signal triggering mechanisms, respectively. Unfortunately, the output triggering can lead to a problem that virtual control laws are non-differentiable. To solve this problem, we first utilize observer output signals to construct virtual control laws to ensure the first-order differentiation of virtual control laws. Then, a dynamic filtering technology is introduced to avoid the repeated differentiation of virtual control laws. Furthermore, an improved first-order auxiliary system is designed to compensate for the impact of actuator saturation. It is shown that the designed controller can guarantee tracking errors steer to a preset accuracy within a prescribed settling time, and all signals in the closed-loop system are semi-globally uniformly ultimately bounded. Finally, simulation results verify the effectiveness of the developed control scheme. |
| ArticleNumber | 109140 |
| Author | Wu, Xiangjun Wang, Huanqing Xu, Ning Zhao, Xudong Ding, Shuo Wang, Wencheng |
| Author_xml | – sequence: 1 givenname: Xiangjun surname: Wu fullname: Wu, Xiangjun email: wuxiangjun2000@163.com organization: College of Control Science and Engineering, Bohai University, Jinzhou, Liaoning 121013, China – sequence: 2 givenname: Shuo surname: Ding fullname: Ding, Shuo email: dingshuo2004@sina.com organization: College of Control Science and Engineering, Bohai University, Jinzhou, Liaoning 121013, China – sequence: 3 givenname: Huanqing surname: Wang fullname: Wang, Huanqing email: ndwhq@163.com organization: College of Mathematical Science, Bohai University, Jinzhou, Liaoning 121013, China – sequence: 4 givenname: Ning surname: Xu fullname: Xu, Ning email: hpxuning@163.com organization: College of Information Science and Technology, Bohai University, Jinzhou, Liaoning 121013, China – sequence: 5 givenname: Xudong surname: Zhao fullname: Zhao, Xudong email: xdzhaohit@gmail.com organization: Faculty of Electronic Information and Electrical Engineering, Dalian University of Technology, Dalian 116024, Liaoning, China – sequence: 6 givenname: Wencheng surname: Wang fullname: Wang, Wencheng email: wwcwfu@126.com organization: College of Machinery and Automation, Weifang University, Weifang 261061, China |
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| Keywords | Fuzzy control Dual-channel event-triggered mechanism Input saturation Prescribed performance Time-varying formation |
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