Prescribed Finite-Time Fuzzy Consensus Control for Multiagent Systems With Aperiodic Updates
针对不确定非线性多智能体系统，提出一种预设有限时间一致性控制方法，通过模糊状态观测器和事件触发机制，在减少控制更新的同时确保共识误差在指定时间内收敛到预设区域且无大超调。
This article studies a prescribed finite-time consensus problem for uncertain nonlinear multiagent systems (MASs) with event-triggered updates. First, the novel finite-time performance boundaries are proposed to ensure that consensus deviations converge to the predefined steady-state zones within a preassigned time, and by using asymmetrically parallel boundaries to constrain consensus errors to narrow feasible regions, small overshoots of consensus errors are assured. Second, by utilizing the inherent approximation property of fuzzy logic systems (FLSs), a fuzzy state observer is devised to recover the unmeasurable states. Based on the observation outcomes, an improved event-triggered output-feedback controller is synthesized so that the number of control input updates is reduced without incurring an evidently deteriorated control performance. The salient merits of the proposed approach are that all consensus errors are free from great overshoots, while settling time can be explicitly assigned in advance. Finally, two examples are given to verify the validity of theoretical results.