控制理论(社会学)
共识
控制器(灌溉)
非线性系统
多智能体系统
执行机构
李雅普诺夫函数
事件(粒子物理)
计算机科学
Lyapunov稳定性
函数逼近
跟踪误差
指数稳定性
控制(管理)
人工神经网络
人工智能
物理
生物
量子力学
农学
作者
Ning Xu,Zhongyu Chen,Ben Niu,Xudong Zhao
出处
期刊:IEEE Journal on Emerging and Selected Topics in Circuits and Systems
[Institute of Electrical and Electronics Engineers]
日期:2023-09-01
卷期号:13 (3): 767-779
被引量:21
标识
DOI:10.1109/jetcas.2023.3277544
摘要
In this paper, a minimal-approximation-based event-triggered leader-following consensus control scheme is proposed for nonlinear multi-agent systems with unknown actuator dead-zone. To save communication resources, a distributed consensus controller based on the event-sampled states is designed for each follower, which reduces the number of transmissions in the sensor-to-controller and controller-to-actuator channels. Considering that a large number of function approximators are employed in the existing distributed event-triggered schemes of uncertain nonlinear multi-agent systems, thereby consuming massive computational resources. The minimal approximation technology, i.e., designing un-requirement-calculated virtual control laws and employing one function approximator in each local controller, is introduced in our proposed scheme. Meanwhile, the proposed minimal-approximation-based event-triggering mechanism only needs to monitor one triggering condition for each follower, which further reduces the computational burden. Finally, the stability of the closed-loop system is strictly proven by using the Lyapunov extension theorem, and two examples are given to demonstrate the effectiveness of the proposed algorithm.
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