Affiliation:
1. Shenzhen Institute of Guangdong Ocean University, Shenzhen 518120, China
2. School of Mechanical Engineering, Guangdong Ocean University, Zhanjiang 524088, China
Abstract
A predefined-time adaptive fuzzy cooperative controller with event triggering is proposed for multi-robot systems that takes into account external disturbances, input saturation, and model uncertainties in this paper. First, based on the asymmetric tan-type barrier Lyapunov function, a predefined-time controller is proposed to acquire a quick response and more precise convergence time under the directed communication topology. Second, predefined-time fuzzy logic systems are developed to approximate external disturbances and model uncertainties. Third, a dynamic relative threshold event-triggered mechanism is improved to save the communication resources of the robots. Subsequently, the proof procedure for the predefined-time stability is given using the Lyapunov stability theorem. Finally, some simulation examples, including a comparative experi-ment on multi-robot systems, are provided to test the effectiveness of the above algorithm.
Funder
Shenzhen Science and Technology Program
Key Project of Department of Education of Guangdong Province
Science and Technology Planning Project of Zhanjiang City
Subject
Electrical and Electronic Engineering,Biochemistry,Instrumentation,Atomic and Molecular Physics, and Optics,Analytical Chemistry