The distributed optimized dynamic event-triggered controller is investigated for completely unknown heterogeneous nonlinear multi-agent systems (MASs) on a directed graph subject to input-constrained. First, the distr...
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The distributed optimized dynamic event-triggered controller is investigated for completely unknown heterogeneous nonlinear multi-agent systems (MASs) on a directed graph subject to input-constrained. First, the distributed observer is designed to estimate the information of the leader for each follower, and a network of the augmented system is constructed by employing the dynamics of the followers and the observers. An identifier with a compensator is designed to approximate the unknown augmented system (agent) with an arbitrarily small identifier error. Then, consider that the input-constrained optimal controller, along with Hamilton-Jacobi-Bellman (HJB) equation, is under pressure to execute in certain systems associated with bottlenecks such as communication and computing burdens. A criticactor-based optimized dynamic event-triggered controller, which tunes the parameters of critic-actor neural networks (NNs) by the dynamic triggering mechanism, is leveraged to determine the rule of aperiodic sampling and maintain the desired synchronization service. In addition, the existence of a positive minimum inter-event time (MIET) between consecutive events is also proved. Finally, the applications in non-identical nonlinear MAS and 2-DOF robots illustrate the availability of the proposed theoretical results. (C) 2022 Published by Elsevier Ltd.
This paper deals with the formation control problem for a group of quadrotor unmanned aerial vehicles (UAVs) through a modified dynamicevent-triggered control protocol. The stability proof for the state space origin ...
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ISBN:
(纸本)9789881563958
This paper deals with the formation control problem for a group of quadrotor unmanned aerial vehicles (UAVs) through a modified dynamicevent-triggered control protocol. The stability proof for the state space origin of the overall closed-loop system is derived from the singular perturbation method and Lyapunov stability theory. An event-triggered formation control protocol in terms of a dynamically varying threshold parameter is delicately carried out while acquiring satisfactory resource efficiency, and Zeno behavior of triggering time sequences is excluded. Finally, simulations on four quadrotor UAVs are given to verify the effectiveness of the theoretical results.
This paper deals with the formation control problem for a group of quadrotor unmanned aerial vehicles（UAVs） through a modified dynamicevent-triggered control protocol. The stability proof for the state space origin...
详细信息
This paper deals with the formation control problem for a group of quadrotor unmanned aerial vehicles（UAVs） through a modified dynamicevent-triggered control protocol. The stability proof for the state space origin of the overall closed-loop system is derived from the singular perturbation method and Lyapunov stability theory. An event-triggered formation control protocol in terms of a dynamically varying threshold parameter is delicately carried out while acquiring satisfactory resource efficiency, and Zeno behavior of triggering time sequences is excluded. Finally, simulations on four quadrotor UAVs are given to verify the effectiveness of the theoretical results.
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