Distributed fuzzy adaptive event-triggered finite-time consensus tracking control for uncertain nonlinear multi-agent systems with asymmetric output constraint |
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| Authors: | Yunchang Huang Xia Yue Jianhui Wang Kemao Ma Zheng Huang |
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| Affiliation: | 1. School of Automation Science and Engineering, South China University of Technology, Guangzhou, China;2. School of Mechanical and Electric Engineering, Guangzhou University, Guangzhou, Guangdong, China;3. Control and Simulation Center, Harbin Institute of Technology, Harbin, China |
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| Abstract: | This article investigates the consensus problem for uncertain nonlinear multi-agent systems (MASs) with asymmetric output constraint. Different from BLF-based constraint consensus tracking control, a novel approach based on nonlinear state-dependent function is proposed to solve the asymmetric output constraint, which need not convert output constraint into tracking error bound. First-order sliding mode differentiator is incorporated into each step of backstepping control design to reduce computation burden. Further, in combination of proposed event-triggered mechanism based on time-varying threshold, a distributed fuzzy adaptive event-triggered finite-time consensus method is developed. It can ensure that the consensus tracking error tends to a small neighbor in a finite time and the asymmetric output constraint of each subsystem is not violated. Two simulations are given to demonstrate the effectiveness of control method. |
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| Keywords: | asymmetric output constraints consensus control event-triggered control finite-time control fuzzy logical system multi-agent systems |
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