2022_Fixed-Time Cooperative Tracking for Delayed Disturbed Multi-Agent Systems Under Dynamic Event-Triggered Control

文章目录

  • Preliminaries
  • Main results
  • Simulation results

Preliminaries

x˙i(t)=ui(t−τi)+ωi(xi(t),t)x˙0(t)=u0(t)(1)\begin{aligned} \dot{x}_i(t) &= u_i(t - \tau_i) + \omega_i(x_i(t), t) \\ \dot{x}_0(t) &= u_0(t) \end{aligned}\tag{1}x˙i​(t)x˙0​(t)​=ui​(t−τi​)+ωi​(xi​(t),t)=u0​(t)​(1)

Main results

x^i(t)=xi(t)+∫t−τitui(T)dT\hat{x}_i(t) = x_i(t) + \int_{t-\tau_i}^{t} u_i(T) dTx^i​(t)=xi​(t)+∫t−τi​t​ui​(T)dT

控制器的设计为
ui(t)=−η1γiv(tki)−η2tanh⁡(Ψγi(tki))−η3γi(tki)(3)u_i(t) = - \eta_1 \gamma_i^v(t_k^i) - \eta_2 \tanh(\Psi \gamma_i(t_k^i)) - \eta_3 \gamma_i(t_k^i) \tag{3}ui​(t)=−η1​γiv​(tki​)−η2​tanh(Ψγi​(tki​))−η3​γi​(tki​)(3)

其中 γi=∑j=1Naij(x^i(t)−x^j(t))+ai0ei(t)\gamma_i = \sum_{j=1}^N a_{ij}(\hat{x}_i(t) - \hat{x}_j(t)) + a_{i0} e_{i}(t)γi​=∑j=1N​aij​(x^i​(t)−x^j​(t))+ai0​ei​(t)

Simulation results

【Paper】2022_Fixed-Time Cooperative Tracking for Delayed Disturbed Multi-Agent Systems Under Dynamic相关推荐

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