Distributed adaptive event-triggered containment control for multi-agent systems under a funnel function
Zan Li
College of Information Science and Technology, Bohai University, Jinzhou, Liaoning, China
Search for more papers by this authorCorresponding Author
Hong Xue
College of Mathematical Sciences, Bohai University, Jinzhou, Liaoning, China
Correspondence Hong Xue, College of Mathematical Sciences, Bohai University, Jinzhou 121013, Liaoning, China.
Email: [email protected]
Search for more papers by this authorYingnan Pan
College of Control Science and Engineering, Bohai University, Jinzhou, Liaoning, China
Search for more papers by this authorHongjing Liang
College of Control Science and Engineering, Bohai University, Jinzhou, Liaoning, China
Search for more papers by this authorZan Li
College of Information Science and Technology, Bohai University, Jinzhou, Liaoning, China
Search for more papers by this authorCorresponding Author
Hong Xue
College of Mathematical Sciences, Bohai University, Jinzhou, Liaoning, China
Correspondence Hong Xue, College of Mathematical Sciences, Bohai University, Jinzhou 121013, Liaoning, China.
Email: [email protected]
Search for more papers by this authorYingnan Pan
College of Control Science and Engineering, Bohai University, Jinzhou, Liaoning, China
Search for more papers by this authorHongjing Liang
College of Control Science and Engineering, Bohai University, Jinzhou, Liaoning, China
Search for more papers by this authorFunding information: National Natural Science Foundation of China, Grant/Award Numbers: 62003052; 62073046; PhD Start-up Fund of Liaoning Province, 2020-BS-239
Abstract
In this article, the adaptive event-triggered containment control problem is investigated for a class of uncertain nonlinear multi-agent systems with an adjustable funnel function. To address the high-frequency oscillations or overshooting problem of fast learning, a predictor is considered. Different from the existing event-triggered control results, a novel adaptive event-triggered condition is designed, which depends on the prediction error instead of relative state error. In order to further improve both the transient and steady-state performance, a modified funnel control strategy is introduced, and distributed containment errors are converged to an adjustable funnel boundary. The proposed control scheme guarantees that the closed-loop system is stable and all followers converge to the convex hull constructed by the leaders. Finally, two simulation examples are provided to confirm the effectiveness of the proposed control method.
CONFLICT OF INTEREST
The author declares that there is no conflict of interest.
Open Research
DATA AVAILABILITY STATEMENT
The data that support the findings of this study are available from the corresponding author upon reasonable request.
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