Dynamical Event-Triggered Formation Control of Multi-Agent with Prescribed Performance

Abstract

In response to the challenges regarding performance constraints, input saturation, and limited communication resources in the formation control process of multi-agent systems, this study investigates a class of high-order nonaffine multi-agent formation control problems with prescribed performance. It proposes a finite-time dynamic event-triggered formation control strategy. First, the control law is designed using the backstepping method, and the differential tracking technique is introduced to address the issue of "computational explosion", effectively avoiding the need for complex virtual control law differentiation. Secondly, a fuzzy logic system is employed to estimate the internal uncertainties of the system. By designing a performance function and a saturation compensation system, the multi-agent system satisfies the prescribed transient performance and mitigates the effects of input saturation. To address limited communication resources, we construct an adaptive event-triggered protocol with a dynamic threshold. This effectively reduces the communication load between the controller and the actuators. Finally, the stability of the closed-loop system is analyzed using the Lyapunov stability theory to ensure the asymptotic convergence of formation errors to zero and the boundedness of all signals in the system. Simulation experiments are conducted with a multi-agent model with one leader and five followers. The results show that, with the finite-time dynamic event-triggering formation control strategy, the multi-agent system ultimately achieves a formation with the leader at the center and the followers arranged in a circle. Moreover, the formation error remains within the prescribed range.