Abstract

A novel communication time-delay classification-based method is designed for nonlinear multiagent systems with the finite-time prescribed performance function. The time-delay phenomenon for communication channels between agents is discussed. Then, an improved time-delay classification method is proposed to broaden the standard of classification mechanism by considering the degree of deviation and relative variation of neighbor agents, rather than classifying the delay time into large time-delay and small time-delay. Based on this, the unified Lyapunov-Krasovskii functional and the finite-time performance function are used to solve the large time-delay phenomenon and ensure that the error is within the preset boundary, respectively. Furthermore, a modified switching event-triggered strategy is put forward to reduce the transmission burden, which considers the impact of tracking error to adjust the threshold condition in real-time. Additionally, all signals of the closed-loop systems are bounded. Eventually, two simulation examples verify the validity of the control strategy.

中文翻译：

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一种新颖的切换事件触发策略的通信时滞协同控制方法

摘要

针对具有有限时间规定性能函数的非线性多智能体系统，设计了一种基于通信时滞分类的新方法。讨论了Agent之间通信通道的时滞现象。然后，提出一种改进的时滞分类方法，通过考虑邻居智能体的偏差程度和相对变化程度来拓宽分类机制的标准，而不是将时滞时间分为大时滞和小时滞。在此基础上，分别采用统一的Lyapunov-Krasovskii泛函和有限时间性能函数来解决大时滞现象并保证误差在预设边界内。此外，提出了一种改进的切换事件触发策略来减轻传输负担，该策略考虑跟踪误差的影响来实时调整阈值条件。此外，闭环系统的所有信号都是有界的。最后通过两个仿真算例验证了控制策略的有效性。