Adaptive Fuzzy Event-Triggered Cooperative Control for Multi-Robot Systems: A Predefined-Time Strategy
Xuehong Tian,
Xin Huang,
Haitao Liu
et al.
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 di… Show more
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