Adaptive Fixed-Time Event-Triggered Consensus Tracking Control for Robotic Multiagent Systems
针对机器人多智能体系统，提出一种自适应固定时间事件触发一致性跟踪控制策略，使每个机械臂快速跟踪理想信号，并通过相对阈值事件触发节省通信资源，避免Zeno现象。
In this article, an adaptive fixed-time event-triggered consensus tracking control strategy is proposed for the robotic multiagent systems (MASs). First, this article considers the robotic MASs rather than the single robotic manipulator system, which is of great research significance in practical applications. Then, the adaptive fixed-time control method within the backstepping technique is developed such that each robotic manipulator can track the ideal signal more quickly. Moreover, in the face of complex tasks, the communication resources of the robotic MASs are in short supply. By sampling the data from the original controller, the relative threshold event-triggered control (RTETC) strategy is adopted for each robotic manipulator system, which can ensure that all signals in the closed-loop system are bounded without the Zeno phenomenon. In the end, a simulation example is presented to demonstrate the validity of the proposed control strategy.