Adaptive practical prescribed-time formation tracking of networked nonlinear multiagent systems with quantized inter-agent communication

被引:5
|
作者
Yoo, Sung Jin [1 ]
Park, Bong Seok [2 ,3 ]
机构
[1] Chung Ang Univ, Sch Elect & Elect Engn, 84 Heukseok Ro, Seoul 06974, South Korea
[2] Kongju Natl Univ, Div Elect Elect & Control Engn, Cheonan 31080, South Korea
[3] Kongju Natl Univ, Inst IT Convergence Technol, Cheonan 31080, South Korea
来源
COMMUNICATIONS IN NONLINEAR SCIENCE AND NUMERICAL SIMULATION | 2024年 / 129卷
基金
新加坡国家研究基金会;
关键词
Quantized inter-agent communication; Practical prescribed-time (PPT) convergence; Command-filtered backstepping; Distributed adaptive formation tracking; FIXED-TIME; CONTAINMENT CONTROL; CONSENSUS CONTROL; VARYING FEEDBACK; NEURAL-CONTROL; STABILIZATION; TRENDS;
D O I
10.1016/j.cnsns.2023.107697
中图分类号
O29 [应用数学];
学科分类号
070104 ;
摘要
This paper presents an adaptive practical prescribed-time (PPT) control design for distributed time-varying formation tracking of networked uncertain strict-feedback nonlinear systems with quantized inter-agent communication under a directed network. The primary contribution of this study is to develop a time-varying formation tracking strategy to resolve the quantized inter-agent communication problem in the prescribed-time control field. A practical finite -time function is introduced to design an adaptive PPT formation tracker using quantized output information of neighbors, which can be used continuously after a prescribed time. A neural-network-based design methodology that utilizes the quantization-based distributed errors is presented to deal with the unknown virtual and actual control coefficient functions in the command-filtered backstepping design. Distributed adaptive compensating signals are constructed using the practical finite-time function to compensate for command-filter errors, unknown nonlinearities, and quantization errors in the PPT tracking framework. We prove that despite the presence of quantized inter-agent communication, the time-varying forma-tion tracking errors converge to a compact set including the origin within the pre-assigned convergence time, where the compact set can be adjusted by choosing a design parameter of the practical finite-time function, and the prescribed settling time is independent of the initial system conditions and design parameters. The effectiveness of the proposed theoretical approach is confirmed through two simulation examples.
引用
收藏
页数:15
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