文献类型：期刊文献

英文题名：Adaptive Fuzzy Event-Triggered Cooperative Control for Multi-Robot Systems: A Predefined-Time Strategy

作者：Tian, Xuehong[1,2];Huang, Xin[1,2];Liu, Haitao[1,2];Mai, Qingqun[1,2]

机构：[1]Guangdong Ocean Univ, Shenzhen Inst, Shenzhen 518120, Peoples R China;[2]Guangdong Ocean Univ, Sch Mech Engn, Zhanjiang 524088, Peoples R China

年份：2023

卷号：23

期号：18

外文期刊名：SENSORS

收录：SCI-EXPANDED(收录号：WOS:001074483100001)、、EI(收录号：20234014824141)、Scopus(收录号：2-s2.0-85172730924)、WOS

基金：This work was supported by the Shenzhen Science and Technology Program (grant number JCYJ20220530162014033), the Key Project of Department of Education of Guangdong Province (grant number 2021ZDZX1041) and the Science and Technology Planning Project of Zhanjiang City (grant numbers 2021A05023 and 2021E05012).

语种：英文

外文关键词：predefined-time cooperative control; asymmetric tan-type barrier Lyapunov function; predefined-time fuzzy logic system; dynamic relative threshold event triggering; multi-robot systems

外文摘要：A predefined-time adaptive fuzzy cooperative controller with event triggering is proposed for multi-robot systems that takes into account external disturbances, input saturation, and model uncertainties in this paper. First, based on the asymmetric tan-type barrier Lyapunov function, a predefined-time controller is proposed to acquire a quick response and more precise convergence time under the directed communication topology. Second, predefined-time fuzzy logic systems are developed to approximate external disturbances and model uncertainties. Third, a dynamic relative threshold event-triggered mechanism is improved to save the communication resources of the robots. Subsequently, the proof procedure for the predefined-time stability is given using the Lyapunov stability theorem. Finally, some simulation examples, including a comparative experi-ment on multi-robot systems, are provided to test the effectiveness of the above algorithm.