Fixed-Time Tracking Control of Multi-agent Systems under Dynamic Event-Triggering Mechanism

doi:10.12382/bgxb.2022.1267

Abstract

Abstract:

To solve the tracking control problem of disturbed nonlinear multi-agent system, a fixed-time integral sliding mode control method is proposed based on dynamic event triggering mechanism. A new integral sliding mode surface is designed based on relative state information, the distributed control protocol is developed, and dynamic variable and dynamic event triggering mechanism are constructed on the basis of the measurement error and the sliding mode surface. It can be proved that the appropriate selection of control parameters can drive the multi-agent system to achieve trajectory tracking within a fixed time under the dynamic event triggering mechanism with Zeno behavior avoided. The proposed control scheme can effectively suppress the influence of system disturbance and reduce the consumption of communication and computing resources of the multi-agent system, and meanwhile, avoid the dependence of the convergence time on the initial states of the system. The simulation results demonstrate that the proposed dynamic event triggering controller allows the multi-agent system to achieve the tracking control in fixed time and reduce the triggering frequency to save resources, which is more suitable for practical applications.

Key words: multi-agent systems, dynamic event triggering mechanism, fixed-time control, integral sliding mode

YU Di, WANG Yajie, ZHAO Bo, LIU Qiong. Fixed-Time Tracking Control of Multi-agent Systems under Dynamic Event-Triggering Mechanism[J]. Acta Armamentarii, 2023, 44(5): 1403-1413.

Figures/Tables 11

Fig.1 Diagram of control scheme

Fig.2 Network topology

Fig.3 Position trajectories of agents

Fig.4 Velocity trajectories of agents

Fig.5 Curves of dynamic auxiliary variables

Fig.6 Curves of errors and trigger threshold

Fig.7 Position trajectories of agents with large initial values

Fig.8 Velocity trajectories of agents with large initial values

Fig.9 Trigger time of agents under the dynamic triggering mechanism

Fig.10 Trigger time of agents under the static triggering mechanism

Table 1 Comparison of triggering frequency of the dynamic and static triggering mechanisms

动态触发和静态触发	智能体
动态触发和静态触发	1	2	3	4	5
动态触发	179	159	148	191	206
静态触发	5129	5190	5191	5229	5208

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