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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...

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Detalles Bibliográficos
Autores principales: Tian, Xuehong, Huang, Xin, Liu, Haitao, Mai, Qingqun
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2023
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10536017/
https://www.ncbi.nlm.nih.gov/pubmed/37766007
http://dx.doi.org/10.3390/s23187950
Descripción
Sumario: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.