BLF-Based Disturbance Rejection Fixed-Time Prescribed Performance Formation of Multimobile Robots Under Event-Triggered Mechanism

作者：Jian-An Wang, Weiru Li, Minghui Wu, Jie Zhang, Mingjie Li · 发表于：IEEE Internet of Things Journal · 年份：2025 · DOI：10.1109/jiot.2025.3645952 · 被引用次数：1 · 研究领域：Distributed Control Multi-Agent Systems、Control and Dynamics of Mobile Robots、Robotic Path Planning Algorithms

To deal with the external disturbance, model parameter uncertainty, sensor capability range limitations, and limited network transmission resources of multi-mobile robot systems, a disturbance rejection event-triggered fixed-time prescribed performance (FTPP) formation control strategy is proposed in this paper. A continuous fixed-time disturbance observer (CFTDO) is first developed to accurately compensate the composite disturbance without chattering phenomenon. The barrier Lyapunov function (BLF) is combined with prescribed performance function (PPF) to tackle the leader-follower communication range constraint and collision avoidance. Based on the CFTDO, fixed-time theory, and backstepping method, the switching threshold event-triggered FTPP controller is constructed so that the closed-loop system is fixed-time stable and the formation tracking errors meet the prescribed performance requirements. The upper bound on the convergence time is completely determined by the design parameters and independent of the initial states. It is theoretically proven to exclude Zeno behavior. Simulation research of five multi-mobile robots are carried out to show the effectiveness of the derived methods.