Abstract
This paper is concerned with distributed containment maneuvering of second-order Multi-Input Multi-Output (MIMO) multi-agent systems with non-periodic communication and actuation. The agent is subject to unmatched nonlinear dynamics and external disturbances. Event-triggered containment maneuvering control methods is developed based on a modular design. Specifically, an estimator module is constructed based on neural networks and the non-periodic obtained follower information through event-triggered communication. Next, a controller module is designed by using the identified information from the estimator module and a third-order linear tracking differentiator. An event-triggered mechanism is introduced for updating the actuator. Then, a path update law is designed based on the non-periodic leader information through event-triggered communication. The closed-loop system cascaded by the estimation subsystem and control subsystem is proved to be input-to-state stable, and Zeno behavior is excluded in the control process. The proposed method is capable of reducing the consumption of communication and actuation. A simulation example is provided to substantiate the effectiveness of the proposed event-triggered control method for distributed containment maneuvering of second-order MIMO multi-agent systems.
| Original language | English |
|---|---|
| Pages (from-to) | 2959-2971 |
| Number of pages | 13 |
| Journal | Chinese Journal of Aeronautics |
| Volume | 33 |
| Issue number | 11 |
| Early online date | 11 Jun 2020 |
| DOIs | |
| Publication status | Published - Nov 2020 |
| Externally published | Yes |
Bibliographical note
Publisher Copyright:© 2020 Chinese Society of Aeronautics and Astronautics
Funding
This work was supported in part by the National Natural Science Foundation of China (Nos. 61673081, 51979020, 51909021, 51939001), and in part by Science and Technology Fund for Distinguished Young Scholars of Dalian (No. 2018RJ08), and in part by the Stable Supporting Fund of Science and Technology on Underwater Vehicle Technology (No. JCKYS2019604SXJQR-01), and in part by the Supporting Program for High-level Talent in Transportation Department (No. 2018-030), and in part by the National Key Research and Development Program of China (No. 2016YFC0301500), and in part by the Fundamental Research Funds for the Central Universities (Nos. 3132019319, 3132020101, 3132020102), and in part by China Postdoctoral Science Foundation (No. 2019M650086), and in part by the Training Program for Doctoral Innovative Talents of DLMU (No. CXXM2019BS001).
Keywords
- Containment maneuvering
- Event-triggered control
- Modular design
- Multi-agent system
- Neural network