计算机工程2025，Vol.51Issue(9)：110-119,10.DOI:10.19678/j.issn.1000-3428.0069711
非线性多智能体系统事件触发预设性能编队控制
Event-Triggered Formation Control for Nonlinear Multi-Agent Systems with Prescribed Performance
摘要
Abstract
Aiming at non-affine nonlinear multi-Agent systems with full-state constraints,this study investigates an event-triggered formation control strategy with prescribed performance.The study proposes a barrier function-based nonlinear mapping technique to transform full-state constraints into the boundedness of mapped variables,thereby eliminating feasibility conditions in the controller design.Then,it introduces a shift function and a prescribed time-convergent performance function to constrain the formation tracking error.Consequently,the restriction that the initial value of the formation tracking error must be within the performance constraint range is eliminated,thus improving formation performance.The study also designs an event-triggered prescribed performance formation controller to guarantee that Agents achieve the desired formation within a prescribed time and maintain it thereafter,while significantly reducing controller-actuator signal transmissions.Lyapunov stability analysis proves that all signals in the system are semi-globally,uniformly,and ultimately bounded.The theoretical analysis rules out the possibility of Zeno behavior occurring.Finally,numerical simulations verify the effectiveness of the proposed method.关键词
多智能体系统/事件触发/预设性能/状态约束/自适应控制Key words
multi-Agent system/event-triggering/prescribed performance/state constraint/adaptive control分类
信息技术与安全科学引用本文复制引用
常茹,刘宇杰,孙浩杰,董立伟..非线性多智能体系统事件触发预设性能编队控制[J].计算机工程,2025,51(9):110-119,10.基金项目
山西省基础研究计划(202303021221063,202303021212017) （202303021221063,202303021212017）
山西省留学基金委员会项目(2023-016) （2023-016）
河北省高等学校科学研究项目(QN2024168). （QN2024168）
