Distributed event-triggered cooperative saturation control for nonlinear multi-agent systems with time-delay and output constraint

Author:

Tian Beibei1ORCID,Liu Qi1,Luo Chenxu2,Leng Junfa2,Jing Shuangxi2

Affiliation:

1. College of Mechanical and Electronic Engineering, Jiaozuo University, Henan, People’s Republic of China

2. College of Mechanical and Power Engineering, Henan Polytechnic University, Henan, People’s Republic of China

Abstract

In this paper, the distributed event-triggered (ET) cooperative control problem is concerned for the nonlinear multi-agent systems (MASs) subject to time-delay and output constraint. Different from the traditional static constraint, the output constraint imposed in this paper is dynamic and asymmetric which is more challenging to handle with. A barrier function is employed to deal with the output constraint so that the systems can be converted to the unconstrained form. In order to overcome the time-delay, the Lyapunov-Krasovskii function is considered and a distributed ET consensus controller is designed via backstepping theory. The control signal will be released only if the triggered threshold is violated. Thus, all signals of closed-loop systems are cruelly proved to be bounded. Finally, the proposed control strategy is verified to be effective through a numerical experiment, which ensures the consensus of MASs and reduces communication burden.

Funder

Scientific and technological project of Henan Province, China

Publisher

SAGE Publications

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