Event-Based Adaptive NN Fixed-Time Cooperative Formation for Multiagent Systems

Cao, Liang; Cheng, Zhijian; Liu, Yang; Li, Hongyi

doi:10.1109/tnnls.2022.3210269

Cited by 121 publications

(38 citation statements)

References 52 publications

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“…The reference [25] designed an improved finite-time performance function for a fuzzy fault-tolerant distributed cooperative control scheme to achieve finite-time robust precision bipartite consensus tracking tasks. In reference [26], a prescribed performance function was introduced to improve the tracking performance of cooperative formation for multiagent systems. And its convergence time can be guaranteed by a userdefined function rather than the controller parameters.…”

Section: Introductionmentioning

confidence: 99%

Fixed-Time Output Feedback Distributed Cooperative Event-Triggered Control for Multiple Surface Vessels With Prescribed Performance Constraints

Ren

Xia

2023

IEEE Access

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This paper studies the distributed cooperative control problem for multiple surface vessels (MSVs) subject to unknown environmental disturbances, model uncertainties, unavailable velocities and prescribed performance constraints. Firstly, a fixed-time extended state observer (FxESO) is designed to provide the estimations of velocities and lumped disturbances (including unknown environmental disturbances and model uncertainties). Secondly, to improve the convergence performance of the MSVs, a hyperbolic cosecant prescribed performance function is incorporated into the cooperative control algorithm. Thirdly, a fixed-time event-triggered control law with prescribed performance constraint is applied to cooperative control based on a fixed-time nonsingular terminal sliding mode manifold (FxNTSMM), and the cooperative errors can converge within fixed time. Finally, by employing Lyapunov function theory, the stability of the closed-loop system is analyzed. Simulation results are given to demonstrate the effectiveness of the proposed control scheme.INDEX TERMS multiple surface vessels, fixed-time extended state observer, prescribed performance, fixed-time sliding mode control, event-triggered controller

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Section: Introductionmentioning

confidence: 99%

Fixed-Time Output Feedback Distributed Cooperative Event-Triggered Control for Multiple Surface Vessels With Prescribed Performance Constraints

Ren

Xia

2023

IEEE Access

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“…In recent years, the problem of finite-time stability has been widely concerned and many methods have been developed in the literatures. [16][17][18][19][20][21][22][23] For instance, the problem of the finite-time tracking control was studied in Reference 16. The proposed control method can guarantee that the system states in the finite time converge to the origin in Reference 17.…”

Section: Introductionmentioning

confidence: 99%

“…In recent years, the problem of finite‐time stability has been widely concerned and many methods have been developed in the literatures 16‐23 . For instance, the problem of the finite‐time tracking control was studied in Reference 16.…”

Section: Introductionmentioning

confidence: 99%

Self‐triggered adaptive prescribed‐time tracking control for stochastic nonlinear systems

Zhu

Pan

et al. 2023

Adaptive Control & Signal

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Summary This paper proposes a self‐triggered (ST) adaptive prescribed‐time tracking control method for a class of stochastic nonlinear systems. Different from the existing results, an improved ST mechanism is proposed by adding a judgment condition to reduce the negative effect of excessive design interval on system performance. Based on the one‐to‐one mapping and backstepping technique, an adaptive prescribed‐time tracking control method is proposed, which can make the error converge to the predefined precision set within the predetermined time. Simultaneously, applying the Lyapunov stability method, the boundedness of all signals in the closed‐loop system can be ensured. Finally, a detailed simulation example is provided to show the effectiveness of the proposed control strategy.

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“…In general, there exist three types of formation scenarios: leaderless, virtual leader (a reference trajectory or an autonomous system without input), and real leader. Results associated to the former two scenarios, e.g., in [5]- [10], have certain application limitations due to the following two reasons: i) the followers have no idea where to go if the formation is leaderless; ii) the trajectory space of the followers is restricted as the virtual leader's trajectory is usually predefined and cannot be changed on-line. In the last scenario, the leader is real, e.g., in [11] with an unicycle model, in [12] with a constant velocity, and in [13], [14] with general linear dynamics, and is able to move anywhere it can by changing its input signal to follow a target or to avoid obstacles in real time.…”

Section: Introductionmentioning

confidence: 99%

A Unified Framework for Multi-Agent Formation with a Non-repetitive Leader Trajectory: Adaptive Control and Iterative Learning Control

Jiang¹,

Chen²,

Chen³

et al. 2023

Preprint

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<p>Formation tracking (FT) control aims at handling cooperative tasks in multi-agent systems (MASs) to achieve desired performance. In these tasks, the leader's input is generally non-zero and unknown to all followers, i.e., its trajectory can be arbitrary and non-repetitive. In this paper, the additive property of linear systems is exploited to develop a unified framework for FT tasks of MASs, consisting of adaptive observer-based control (AOC) and iterative learning control (ILC). This framework employs an AOC controller to guarantee a fixed-shape formation between the leader and followers during the whole process, which reserves the initial condition for ILC. Also, it employs ILC to improve the FT performance of certain repetitive tasks (followers rotating around the leader) over the trials. This gives rise to a fully distributed algorithm working for a directed communication graph containing a spanning tree without requiring any eigenvalue information from the Laplacian matrix of the graph, which enables its application to MASs with a large number of agents. Comparisons are provided via a numerical simulation to show that the proposed combined AOC-ILC algorithm has less FT error than pure AOC (without ILC), which validates the feasibility and efficacy of this algorithm.</p>

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Event-Based Adaptive NN Fixed-Time Cooperative Formation for Multiagent Systems

Cited by 121 publications

References 52 publications

Fixed-Time Output Feedback Distributed Cooperative Event-Triggered Control for Multiple Surface Vessels With Prescribed Performance Constraints

Fixed-Time Output Feedback Distributed Cooperative Event-Triggered Control for Multiple Surface Vessels With Prescribed Performance Constraints

Self‐triggered adaptive prescribed‐time tracking control for stochastic nonlinear systems

A Unified Framework for Multi-Agent Formation with a Non-repetitive Leader Trajectory: Adaptive Control and Iterative Learning Control

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