Dynamic event-triggered adaptive fuzzy command filtered asymptotic containment control for flexible robotic manipulator multiagent systems

Abstract

This paper presents the adaptive fuzzy asymptotic containment control scheme for flexible robotic manipulator multiagent systems (MASs) based on a novel dynamic event-triggered mechanism (DETM). Firstly, a two-step coordinate transformation method is presented based on the command filtered technique and the backstepping method, which effectively works out the issue of “explosion of complexity”. Secondly, it should be worth stressing that the controller design is particularly challenging because of the unknown nonlinearities that appear in the actual flexible robotic manipulator MASs. Therefore, the fuzzy logic systems (FLSs) are introduced to deal with the unknown nonlinearities. Based on an auxiliary dynamic variable, a DETM is designed to save communication resources without the Zeno phenomenon. The proposed control scheme not only ensures that all variables in the closed-loop system are uniformly ultimately bounded (UUB), but also the outputs of the followers can evolve within the dynamic convex hull formed by the multiple leaders, and the containment errors can eventually tend to zero. Finally, the simulation results indicate the feasibility of the proposed control scheme.