Prescribed-time cluster consensus for nonlinear multi-agent systems under event-triggered intermittent control
摘要
Given its adaptive nature to varying environmental conditions and mission demands, this paper develops some event-triggered intermittent control (ETIC) protocols to achieve the prescribed-time cluster consensus of nonlinear systems with uncertain disturbances. Firstly, a type of ETIC protocol with sign function is proposed, in which the event-triggering mechanism is given by carefully designing two auxiliary functions. Secondly, to eliminate the chattering phenomenon caused by the sign function, we propose an ETIC protocol in combination with integral sliding mode control strategy. Furthermore, an improved ETIC protocol with nested sliding mode structure and sampling mechanism is proposed, which can effectively suppress external disturbances in the system while reducing communication costs and update frequency. Through analysis, we provide some relevant criteria for the multi-agent systems to achieve cluster consensus within a prescribed-time under the proposed different control protocols, and exclude Zeno behavior in the control process. Finally, two numerical simulation cases are provided to validate the theoretical results.