Time-varying dynamic event-triggered-based prescribed-time leader-following consensus for multi-agent systems with input saturation

IF 3.4 2区数学 Q1 MATHEMATICS, APPLIED

Applied Mathematics and Computation Pub Date : 2025-07-17 DOI:10.1016/j.amc.2025.129630

Meilin Li , Yue Long , Kai Zhang , Tieshan Li

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引用次数: 0

Abstract

This paper is concerned with prescribed-time leader-following consensus tracking for multi-agent systems subject to input saturation and limited resources under directed topology. A time-varying dynamic event-triggered-based prescribed-time approach is proposed to realize the consensus tracking in preset time. First, a novel dynamic event-triggered mechanism based on time-varying parameter is designed to further reduce actuator losses and computational resource usage. Second, a bounded protocol based on prescribed-time is proposed to ensure consensus tracking of the controlled system within the preset time, while keeping the control input within the saturation threshold. Third, the expression of the minimum inter-event time is derived based on the special properties of the parametric Lyapunov equation. The derived expression exhibits a straightforward and clear relationship with the system matrix, and no Zeno phenomenon occurs in the closed-system. Finally, the validity of the design method is verified by several inverted pendulum systems.

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输入饱和的多智能体系统时变动态事件触发的规定时间领导跟随一致性

研究了有向拓扑下输入饱和和资源有限的多智能体系统的预定时间领导-跟随共识跟踪问题。提出了一种基于时变动态事件触发的规定时间方法，实现了在规定时间内的一致性跟踪。首先，设计了一种基于时变参数的动态事件触发机制，进一步减少了致动器的损耗和计算资源的使用。其次，提出了一种基于规定时间的有界协议，保证被控系统在规定时间内的一致性跟踪，同时控制输入保持在饱和阈值内；第三，根据参数Lyapunov方程的特殊性质，导出了最小事件间时间的表达式。推导出的表达式与系统矩阵的关系简单明了，在封闭系统中不发生芝诺现象。最后，通过多个倒立摆系统验证了设计方法的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Applied Mathematics and Computation 数学-应用数学

CiteScore

7.90

自引率

10.00%

发文量

755

审稿时长

36 days

期刊介绍： Applied Mathematics and Computation addresses work at the interface between applied mathematics, numerical computation, and applications of systems – oriented ideas to the physical, biological, social, and behavioral sciences, and emphasizes papers of a computational nature focusing on new algorithms, their analysis and numerical results. In addition to presenting research papers, Applied Mathematics and Computation publishes review articles and single–topics issues.