Distributed Event-Triggered Fixed-Time DSC of Multiagent Systems
针对非线性高阶多智能体系统，提出一种基于事件触发通信的固定时间自适应一致性控制方案，通过改进的非线性滤波器减少通信和控制器更新频率，并避免Zeno行为。
Adaptive consensus fixed-time (FT)-based prescribed performance is studied for nonlinear high-order multiagent systems (MASs) with nonstrict-feedback form and event-triggered communication. To address the “explosion of complexity” issue, an enhanced nonlinear FT filter with tanh and cubic functions is proposed. Under the backstepping and prescribed performance control (PPC) framework, a distributed event-trigger condition and an FT dynamic surface control (DSC) scheme are developed under directed topology. The main advantage of the developed algorithm is that the continuous communication between adjacent agents is not required, which can reduce the data communication and the controller update frequency. Meanwhile, the Zeno behavior can be effectively avoided. Simulation examples show that the developed method can significantly reduce the control effort on the premise of ensuring the practical FT stability (PFTS) of the controlled system and the tracking errors meeting the prescribed performance constraints.