| Autor: |
Xuehong Tian, Xin Huang, Haitao Liu, Qingqun Mai |
| Jazyk: |
angličtina |
| Rok vydání: |
2023 |
| Předmět: |
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| Zdroj: |
Sensors, Vol 23, Iss 18, p 7950 (2023) |
| Druh dokumentu: |
article |
| ISSN: |
1424-8220 |
| DOI: |
10.3390/s23187950 |
| Popis: |
A predefined-time adaptive fuzzy cooperative controller with event triggering is proposed for multi-robot systems that takes into account external disturbances, input saturation, and model uncertainties in this paper. First, based on the asymmetric tan-type barrier Lyapunov function, a predefined-time controller is proposed to acquire a quick response and more precise convergence time under the directed communication topology. Second, predefined-time fuzzy logic systems are developed to approximate external disturbances and model uncertainties. Third, a dynamic relative threshold event-triggered mechanism is improved to save the communication resources of the robots. Subsequently, the proof procedure for the predefined-time stability is given using the Lyapunov stability theorem. Finally, some simulation examples, including a comparative experi-ment on multi-robot systems, are provided to test the effectiveness of the above algorithm. |
| Databáze: |
Directory of Open Access Journals |
| Externí odkaz: |
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