Abstract
The event-triggered control problem is investigated for multi-agent systems (MASs) with disturbances. An extended state observer-based fully distributed finite-time event-trigger controller with three adaptive parameters is proposed based on terminal sliding mode and gain adaptive method. The parameters are introduced to reduce chartering, analyze stability and achieve fully distributed control. Although several triggering conditions are increased because of three parameters, however, compared with only one triggering condition, the designed control protocol improves the control accuracy. The numeral simulation shows the effectiveness of the proposed protocol.
This paper is China Postdoctoral Science Foundation 2019TQ0033.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
Hu, W., Liu, L., Feng, G.: Consensus of linear multi-agent systems by distributed event-triggered strategy. IEEE Trans. Cybern. 46(1), 148–157 (2015)
Dimarogonas, D.V., Frazzoli, E., Johansson, K.H.: Distributed event-triggered control for multi-agent systems. IEEE Trans. Autom. Control 57(5), 1291–1297 (2012)
Hu, W., Liu, L., Feng, G.: Consensus of linear multi-agent systems by distributed event-triggered strategy. IEEE Trans. Cybern. 46(1), 148–157 (2016)
Qian, Y., Liu, L., Feng, G.: Distributed dynamic event-triggered control for cooperative output regulation of linear multiagent systems. IEEE Trans. Cybern. 50(7), 3023–3032 (2020)
Ji, L., Fan, C., Qiao, Y., Xiang, H.: Formation control for multi-UAVs system based on event-triggered mechanism. In: 2019 Chinese Control Conference (CCC), Guangzhou, China, pp. 8254–8259 (2019)
Yang, Y., Li, Y., Yue, D., Yue, W.: Adaptive event-triggered consensus control of a class of second-order nonlinear multiagent systems. IEEE Trans. Cybern. 1–11 (2019)
Hongbin, W., Zhen, Z., Yueling, W., Mingquan, Z., Xiaojun, X.: Dynamic event-triggered formation control for multiple quadrotor UAVs. In: 2018 37th Chinese Control Conference (CCC), Wuhan, pp. 6590–6595 (2018)
Zhang, H.B., Yue, D., Yin, X.X., Hu, S.L., Dou, C.X.: Finite-time distributed event-triggered consensus control for multi-agent systems. Inf. Sci. Int. J. 339(C), 132–142 (2016)
Qi, Y.W., Cao, M.: Finite-time boundedness and stabilisation of switched linear systems using event-triggered controllers. IET Control Theory Appl. 11(18), 3240–3248 (2018)
Nair, R.R., Behera, L., Kumar, S.: Event-triggered finite-time integral sliding mode controller for consensus-based formation of multirobot systems with disturbances. IEEE Trans. Control Syst. Technol. 27(1), 39–47 (2017)
Mei, J., Ren, W., Ma, G.F.: Distributed coordinated tracking for multiple Euler-Lagrange systems, pp. 3208–3213 (2010)
Zhu, Y.K., Guan, X.P., Luo, X.Y., Li, S.B.: Finite-time consensus of multi-agent system via nonlinear event-triggered control strategy. IET Control Theory Appl. 9(17), 2548–2552 (2015)
Zhu, Z., Xia, Y., Fu, M.: Attitude stabilization of rigid spacecraft with finite-time convergence. Int. J. Robust Nonlinear Control 21(6), 686–702 (2011)
Qian, C., Lin, W.: Non-Lipschitz continuous stabilizers for nonlinear systems with uncontrollable unstable linearization. Syst. Control Lett. 42(3), 185–200 (2001)
Zou, W.C., Shi, P., Xiang, Z.R., Shi, Y.: Finite-time consensus of second-order switched nonlinear multi-agent systems. IEEE Trans. Neural Netw. Learn. Syst. 1–6 (2019)
Tian, B.L., Liu, L.H., Lu, H.C., Zuo, Z.Y., Zong, Q., Zhang, Y.P.: Multivariable finite time attitude control for quadrotor UAV: theory and experimentation. 14, 2567–2577 (2017)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2022 The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.
About this paper
Cite this paper
Wang, J., Bi, C., Wang, D., Wang, C., Shan, J. (2022). Event-Triggered Formation Control for Multi-agent Systems Using Terminal Sliding Mode Method. In: Yan, L., Duan, H., Yu, X. (eds) Advances in Guidance, Navigation and Control . Lecture Notes in Electrical Engineering, vol 644. Springer, Singapore. https://doi.org/10.1007/978-981-15-8155-7_412
Download citation
DOI: https://doi.org/10.1007/978-981-15-8155-7_412
Published:
Publisher Name: Springer, Singapore
Print ISBN: 978-981-15-8154-0
Online ISBN: 978-981-15-8155-7
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)