Abstract
A novel communication time-delay classification-based method is designed for nonlinear multiagent systems with the finite-time prescribed performance function. The time-delay phenomenon for communication channels between agents is discussed. Then, an improved time-delay classification method is proposed to broaden the standard of classification mechanism by considering the degree of deviation and relative variation of neighbor agents, rather than classifying the delay time into large time-delay and small time-delay. Based on this, the unified Lyapunov-Krasovskii functional and the finite-time performance function are used to solve the large time-delay phenomenon and ensure that the error is within the preset boundary, respectively. Furthermore, a modified switching event-triggered strategy is put forward to reduce the transmission burden, which considers the impact of tracking error to adjust the threshold condition in real-time. Additionally, all signals of the closed-loop systems are bounded. Eventually, two simulation examples verify the validity of the control strategy.
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Acknowledgements
This work was partially supported by the National Natural Science Foundation of China (62103108, 62303179), the General Cultivation of Scientific Research Projects of Bohai University (0522xn072), the Scientific Research Fund of Hunan Provincial Education Department (22B0468), the Science and Technology Project of Nantong City (MS22022060), the Revitalization of Liaoning Talents Program (XLYC2203201) and the Innovation Fund Project for Graduate Student of Bohai University (YJC2023-004).
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All authors contributed to the study conception and design. Data simulation, manuscript revision and proofreading were performed by Dongni Li, Liang Cao, Yingnan Pan, Wenbin Xiao and Hong Xue. The first draft of the manuscript was written by Dongni Li and all authors commented on previous versions of the manuscript. All authors read and approved the final manuscript.
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Li, D., Cao, L., Pan, Y. et al. A Novel Communication Time-Delay Cooperative Control Method with Switching Event-Triggered Strategy. J Intell Robot Syst 110, 43 (2024). https://doi.org/10.1007/s10846-024-02076-5
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DOI: https://doi.org/10.1007/s10846-024-02076-5