Event-Triggered Bipartite Formation Control for Switched Nonlinear Multi-Agent Systems with Function Constraints on States

A distributed adaptive fuzzy event-triggered bipartite formation tracking control scheme is proposed for switched nonlinear multi-agent systems (MASs) with function constraints on states. Fuzzy logic systems (FLSs) are used to identify uncertain items. To improve the transient performance of the sys...

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Main Authors: Yingxue Hou, Shu Li
Format: Article
Language:English
Published: MDPI AG 2025-01-01
Series:Actuators
Subjects:
Online Access:https://www.mdpi.com/2076-0825/14/1/23
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author Yingxue Hou
Shu Li
author_facet Yingxue Hou
Shu Li
author_sort Yingxue Hou
collection DOAJ
description A distributed adaptive fuzzy event-triggered bipartite formation tracking control scheme is proposed for switched nonlinear multi-agent systems (MASs) with function constraints on states. Fuzzy logic systems (FLSs) are used to identify uncertain items. To improve the transient performance of the system, a fixed-time prescribed performance function (FTPPF) is introduced to make the formation error converge to a prescribed boundary range within a fixed time. Considering that the state constraint boundary is restricted by multiple pieces of information (historical state, topological relationship, neighbor agent output, leader signal and time), a tan-type barrier Lyapunov function (BLF) is constructed to address the challenges brought by the state function constraint. The shortcoming of the “explosion of complexity” is compensated by fusing the backstepping control and command filter. To mitigate the communication burden while ensuring a steady-state performance, a distributed event-triggered fixed-time bipartite formation control scheme is proposed. Finally, the performance of the proposed control method is verified by an MAS consisting of four followers and one leader.
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institution Kabale University
issn 2076-0825
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spelling doaj-art-cdbada955d26475d8e29fc2502defdb72025-01-24T13:15:12ZengMDPI AGActuators2076-08252025-01-011412310.3390/act14010023Event-Triggered Bipartite Formation Control for Switched Nonlinear Multi-Agent Systems with Function Constraints on StatesYingxue Hou0Shu Li1School of Electrical Engineering, Liaoning University of Technology, Jinzhou 121001, ChinaSchool of Electrical Engineering, Liaoning University of Technology, Jinzhou 121001, ChinaA distributed adaptive fuzzy event-triggered bipartite formation tracking control scheme is proposed for switched nonlinear multi-agent systems (MASs) with function constraints on states. Fuzzy logic systems (FLSs) are used to identify uncertain items. To improve the transient performance of the system, a fixed-time prescribed performance function (FTPPF) is introduced to make the formation error converge to a prescribed boundary range within a fixed time. Considering that the state constraint boundary is restricted by multiple pieces of information (historical state, topological relationship, neighbor agent output, leader signal and time), a tan-type barrier Lyapunov function (BLF) is constructed to address the challenges brought by the state function constraint. The shortcoming of the “explosion of complexity” is compensated by fusing the backstepping control and command filter. To mitigate the communication burden while ensuring a steady-state performance, a distributed event-triggered fixed-time bipartite formation control scheme is proposed. Finally, the performance of the proposed control method is verified by an MAS consisting of four followers and one leader.https://www.mdpi.com/2076-0825/14/1/23bipartite formationswitched nonlinear multi-agent systems (MASs)full-state constraintsevent-triggered control (ETC)fixed-time prescribed performance function (FTPPF)
spellingShingle Yingxue Hou
Shu Li
Event-Triggered Bipartite Formation Control for Switched Nonlinear Multi-Agent Systems with Function Constraints on States
Actuators
bipartite formation
switched nonlinear multi-agent systems (MASs)
full-state constraints
event-triggered control (ETC)
fixed-time prescribed performance function (FTPPF)
title Event-Triggered Bipartite Formation Control for Switched Nonlinear Multi-Agent Systems with Function Constraints on States
title_full Event-Triggered Bipartite Formation Control for Switched Nonlinear Multi-Agent Systems with Function Constraints on States
title_fullStr Event-Triggered Bipartite Formation Control for Switched Nonlinear Multi-Agent Systems with Function Constraints on States
title_full_unstemmed Event-Triggered Bipartite Formation Control for Switched Nonlinear Multi-Agent Systems with Function Constraints on States
title_short Event-Triggered Bipartite Formation Control for Switched Nonlinear Multi-Agent Systems with Function Constraints on States
title_sort event triggered bipartite formation control for switched nonlinear multi agent systems with function constraints on states
topic bipartite formation
switched nonlinear multi-agent systems (MASs)
full-state constraints
event-triggered control (ETC)
fixed-time prescribed performance function (FTPPF)
url https://www.mdpi.com/2076-0825/14/1/23
work_keys_str_mv AT yingxuehou eventtriggeredbipartiteformationcontrolforswitchednonlinearmultiagentsystemswithfunctionconstraintsonstates
AT shuli eventtriggeredbipartiteformationcontrolforswitchednonlinearmultiagentsystemswithfunctionconstraintsonstates