Event-triggered finite-time formation control for second-order leader-following multi-agent systems with nonlinear term time delay
Luo Y. Gao X. Li A. Kashkynbayev A.
2023Taylor and Francis Ltd.
International Journal of Control
2023#96Issue 102636 - 2650 pp.
Event-triggered finite-time formation control is considered for second-order leader-following multi-agent systems with nonlinear term time delay in this study. Collision avoidance radius is designed for a class of second-order nonlinear multiagent systems to avoid collisions between agents. Collision avoidance control is realised by detecting the flight radius. Control cost is economised, and communication volume is reduced by controlling key nodes and designing an event-triggered control strategy. The system can realise formation control in finite time by designing an FTC function. Some sufficient conditions for the formation of the second-order multi-agent system in finite time are obtained by using Lyapunov stability theory and analysis. The integral sliding mode control algorithm and finite-time stability theory are used to enhance the robustness of the system, and the upper bound of finite time is given. At the same time, the ability of the designed event-triggered function to avoid Zeno behaviour is proven. Finally, the feasibility of the results is verified through a numerical simulation.
collision avoidance control , Event-triggered formation control , finite time , integral sliding mode , nonlinear term time delay
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Hunan Institute of Engineering, Xiangtan, China
Department of Mathematics, Nazarbayev University, Nur-Sultan city, Kazakhstan
Hunan Institute of Engineering
Department of Mathematics
10 лет помогаем публиковать статьи Международный издатель
Книга Публикация научной статьи Волощук 2026 Book Publication of a scientific article 2026