Cargando…
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...
Autores principales: | , , , |
---|---|
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 |
_version_ | 1785112766929960960 |
---|---|
author | Tian, Xuehong Huang, Xin Liu, Haitao Mai, Qingqun |
author_facet | Tian, Xuehong Huang, Xin Liu, Haitao Mai, Qingqun |
author_sort | Tian, Xuehong |
collection | PubMed |
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. |
format | Online Article Text |
id | pubmed-10536017 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2023 |
publisher | MDPI |
record_format | MEDLINE/PubMed |
spelling | pubmed-105360172023-09-29 Adaptive Fuzzy Event-Triggered Cooperative Control for Multi-Robot Systems: A Predefined-Time Strategy Tian, Xuehong Huang, Xin Liu, Haitao Mai, Qingqun Sensors (Basel) Article 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. MDPI 2023-09-18 /pmc/articles/PMC10536017/ /pubmed/37766007 http://dx.doi.org/10.3390/s23187950 Text en © 2023 by the authors. https://creativecommons.org/licenses/by/4.0/Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/). |
spellingShingle | Article Tian, Xuehong Huang, Xin Liu, Haitao Mai, Qingqun Adaptive Fuzzy Event-Triggered Cooperative Control for Multi-Robot Systems: A Predefined-Time Strategy |
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 | Article |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10536017/ https://www.ncbi.nlm.nih.gov/pubmed/37766007 http://dx.doi.org/10.3390/s23187950 |
work_keys_str_mv | AT tianxuehong adaptivefuzzyeventtriggeredcooperativecontrolformultirobotsystemsapredefinedtimestrategy AT huangxin adaptivefuzzyeventtriggeredcooperativecontrolformultirobotsystemsapredefinedtimestrategy AT liuhaitao adaptivefuzzyeventtriggeredcooperativecontrolformultirobotsystemsapredefinedtimestrategy AT maiqingqun adaptivefuzzyeventtriggeredcooperativecontrolformultirobotsystemsapredefinedtimestrategy |