Adaptive Fuzzy Event-Triggered Cooperative Control for Multi-Robot Systems: A Predefined-Time Strategy
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-ti...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-09-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/23/18/7950 |
| _version_ | 1797576986909999104 |
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| author | Xuehong Tian Xin Huang Haitao Liu Qingqun Mai |
| author_facet | Xuehong Tian Xin Huang Haitao Liu Qingqun Mai |
| author_sort | Xuehong Tian |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-03-10T22:01:32Z |
| format | Article |
| id | doaj.art-906732101a494540a5c91c79b7e8b1cd |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-10T22:01:32Z |
| publishDate | 2023-09-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-906732101a494540a5c91c79b7e8b1cd2023-11-19T12:56:32ZengMDPI AGSensors1424-82202023-09-012318795010.3390/s23187950Adaptive Fuzzy Event-Triggered Cooperative Control for Multi-Robot Systems: A Predefined-Time StrategyXuehong Tian0Xin Huang1Haitao Liu2Qingqun Mai3Shenzhen Institute of Guangdong Ocean University, Shenzhen 518120, ChinaShenzhen Institute of Guangdong Ocean University, Shenzhen 518120, ChinaShenzhen Institute of Guangdong Ocean University, Shenzhen 518120, ChinaShenzhen Institute of Guangdong Ocean University, Shenzhen 518120, ChinaA 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.https://www.mdpi.com/1424-8220/23/18/7950predefined-time cooperative controlasymmetric tan-type barrier Lyapunov functionpredefined-time fuzzy logic systemdynamic relative threshold event triggeringmulti-robot systems |
| spellingShingle | Xuehong Tian Xin Huang Haitao Liu Qingqun Mai Adaptive Fuzzy Event-Triggered Cooperative Control for Multi-Robot Systems: A Predefined-Time Strategy Sensors predefined-time cooperative control asymmetric tan-type barrier Lyapunov function predefined-time fuzzy logic system dynamic relative threshold event triggering multi-robot systems |
| title | Adaptive Fuzzy Event-Triggered Cooperative Control for Multi-Robot Systems: A Predefined-Time Strategy |
| title_full | Adaptive Fuzzy Event-Triggered Cooperative Control for Multi-Robot Systems: A Predefined-Time Strategy |
| title_fullStr | Adaptive Fuzzy Event-Triggered Cooperative Control for Multi-Robot Systems: A Predefined-Time Strategy |
| title_full_unstemmed | Adaptive Fuzzy Event-Triggered Cooperative Control for Multi-Robot Systems: A Predefined-Time Strategy |
| title_short | Adaptive Fuzzy Event-Triggered Cooperative Control for Multi-Robot Systems: A Predefined-Time Strategy |
| title_sort | adaptive fuzzy event triggered cooperative control for multi robot systems a predefined time strategy |
| topic | predefined-time cooperative control asymmetric tan-type barrier Lyapunov function predefined-time fuzzy logic system dynamic relative threshold event triggering multi-robot systems |
| url | https://www.mdpi.com/1424-8220/23/18/7950 |
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