Game-Based Fuzzy Adaptive Least-Distance Formation Control for Nonlinear MASs Under Event-Triggered Communication
针对事件触发通信下非线性多智能体系统，设计了分布式观测器和级联滤波器，提出一种博弈模糊自适应最短距离编队控制器，使智能体渐近收敛到纳什均衡并实现最短距离编队。
This article studies the game-based fuzzy adaptive least-distance formation control problem for nonlinear multiagent systems (MASs) under event-triggered communication. Since agents cannot obtain the nonneighboring agents’ actions, and a subset of agents cannot access the moving target, distributed event-triggered observers are designed to estimate all agents’ actions and the moving target. Based on the designed distributed observers, a distributed time-varying Nash equilibrium (NE) seeking strategy is constructed such that the agents’ actions asymptotically converge to the NE. To overcome the nonexistence problem of high-order derivatives of the estimated signals arising from intermittent communication, three stage cascade filters are proposed to generate sufficiently smooth signals to replace the estimated signals. Then, a fuzzy least-distance formation controller is developed by utilizing the proposed cascade filters and the backstepping control theory. It is proven that the proposed formation control scheme can guarantee that all agents asymptotically achieve the least-distance formation. Finally, simulation and comparison results on marine surface vehicles (MSVs) verify the effectiveness of the proposed control scheme.