Dynamic Event-Triggered Based Coherent Formation Control for Multi-robot Systems

In order to enhance the convergence speed of consensus in multi-robot systems, a fixed-time consensus problem is discussed for a class of fuzzy multi-robot systems with nonlinear dynamic behaviors. To further reduce the frequency of controller updates, an adaptive adjustable dynamic variable is introduced, and combined with newly obtained dynamic variables online, the event-triggering conditions for follower robots are designed. Using hyperbolic tangent functions, nonlinear controllers and measurement errors are designed to eliminate Zeno behavior of the controlled systems. Based on mathematical tools such as algebraic graph theory and stability theory, sufficient conditions for achieving fixed-time consensus in multi-robot systems are derived. Example simulations demonstrate that the convergence time of fixed-time consensus is independent of the initial state values, verifying the feasibility of the proposed control method.