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Volume 10 Issue 10
Oct.  2023

IEEE/CAA Journal of Automatica Sinica

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Article Contents
J. Y. Chai, Q. Lu, X. D. Tao, D. L. Peng, and  B. T. Zhang,  “Dynamic event-triggered fixed-time consensus control and its applications to magnetic map construction,” IEEE/CAA J. Autom. Sinica, vol. 10, no. 10, pp. 2000–2013, Oct. 2023. doi: 10.1109/JAS.2023.123444
Citation: J. Y. Chai, Q. Lu, X. D. Tao, D. L. Peng, and  B. T. Zhang,  “Dynamic event-triggered fixed-time consensus control and its applications to magnetic map construction,” IEEE/CAA J. Autom. Sinica, vol. 10, no. 10, pp. 2000–2013, Oct. 2023. doi: 10.1109/JAS.2023.123444

Dynamic Event-Triggered Fixed-Time Consensus Control and Its Applications to Magnetic Map Construction

doi: 10.1109/JAS.2023.123444
Funds:  This work was supported in part by the National Natural Science Foundation of China (62073108), the Zhejiang Provincial Natural Science Foundation (LZ23F030004), the Key Research and Development Project of Zhejiang Province (2019C04018), and the Fundamental Research Funds for the Provincial Universities of Zhejiang (GK229909299001-004)
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  • This article deals with the consensus problem of multi-agent systems by developing a fixed-time consensus control approach with a dynamic event-triggered rule. First, a new fixed-time stability condition is obtained where the less conservative settling time is given such that the theoretical settling time can well reflect the real consensus time. Second, a dynamic event-triggered rule is designed to decrease the use of chip and network resources where Zeno behaviors can be avoided after consensus is achieved, especially for finite/fixed-time consensus control approaches. Third, in terms of the developed dynamic event-triggered rule, a fixed-time consensus control approach by introducing a new item is proposed to coordinate the multi-agent system to reach consensus. The corresponding stability of the multi-agent system with the proposed control approach and dynamic event-triggered rule is analyzed based on Lyapunov theory and the fixed-time stability theorem. At last, the effectiveness of the dynamic event-triggered fixed-time consensus control approach is verified by simulations and experiments for the problem of magnetic map construction based on multiple mobile robots.

     

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    Highlights

    • A new fixed-time stability condition is obtained where the less conservative settling time is given such that the theoretical settling time can well reflect the real consensus time
    • A dynamic event-triggered rule is designed to reduce the use of chip and communication resources by introducing an internal variable where Zeno behaviors can be avoided after consensus is achieved for finite/fixed-time consensus control approaches
    • In terms of the developed dynamic event-triggered rule, a fixed-time consensus control approach by introducing a new item such that the proposed controller can enable the second-order nonlinear multi-agent system to reach consensus quickly
    • The dynamic event-triggered fixed-time control approach is used to guide the robots to construct the magnetic map

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