A Fixed-Time Consensus Control With Prescribed Performance for Multi-Agent Systems Under Full-State Constraints

作者：Shangbin Long, Weicong Huang, Jianhui Wang, Jiarui Liu, Yixiang Gu, Zian Wang · 发表于：IEEE Transactions on Automation Science and Engineering · 年份：2024 · DOI：10.1109/tase.2024.3445135 · 被引用次数：81 · 研究领域：Distributed Control Multi-Agent Systems、Distributed systems and fault tolerance

This paper investigates a fixed-time consensus control problem of nonlinear multi-agent systems under full-state constraints. First, by designing corresponding constraint functions for system transformation, state-dependent asymmetric time-varying constraints are realized. The feasibility conditions of the system are eliminated, and the requirements on the constraint boundary are relaxed. Meanwhile, a prescribed performance function is designed for the constraints on synchronization deviation, which helps to improve the transient and steady-state performance of the system and ensure rapid consensus convergence on a fixed-time framework. Additionally, considering the frequent communication between the controller and actuator and to decrease the controller update frequency to save system bandwidth, an adaptive threshold event-triggered mechanism is developed. A dynamic parameter is introduced into the triggered mechanism to adjust the triggered threshold, thereby overcoming the issue that static parameters might cause excessive or insufficient event-triggered and avoiding Zeno behavior. Finally, the effectiveness of the proposed strategy is verified through simulation. Note to Practitioners—In complex modern engineering systems, the consensus control of multi-agent systems has become a research hotspot. In practical industrial applications, given the requirements for safety and production efficiency, it is crucial for systems to effectively constrain states and ensure performan...