Event-Triggered Finite-Time Tracking Control for Fractional-Order Multi-Agent Systems with Input Saturation and Constraints

Figures & data

Figure 1. The flowchart of the control system structure.

Figure 2. Directed interaction graph.

Figure 3. The trajectories of $y_1$, $y_2$, $y_3$, $y_4$ and $y_0$.

Figure 4. The curves of the tracking errors $y_i-y_0$.

Figure 5. The trajectories of the system states ${\chi }_{i1}$ with constraints.

Figure 6. The trajectories of the error variables $S_{i1}$ with constraints.

Figure 7. The trajectories of the system states ${\chi }_{i2}$ and its estimation ${\hat{\chi }}_{i1}$.

Figure 8. The curves of the controller ${\tau }_1(t)$ and its saturation input $\mathrm{s}\mathrm{a}{\mathrm{t}}_1({\tau }_1(t))$.

Figure 9. The curves of the controller ${\tau }_2(t)$ and its saturation input $\mathrm{s}\mathrm{a}{\mathrm{t}}_2({\tau }_2(t))$.

Figure 10. The curves of the controller ${\tau }_3(t)$ and its saturation input $\mathrm{s}\mathrm{a}{\mathrm{t}}_3({\tau }_3(t))$.

Figure 11. The curves of the controller ${\tau }_4(t)$ and its saturation input $\mathrm{s}\mathrm{a}{\mathrm{t}}_4({\tau }_4(t))$.

Figure 12. The inter-event time of ${\tau }_i(t)$.

Figure 13. The trajectories of $y_1$, $y_2$, $y_3$, $y_4$ and $y_0$ with ETC scheme proposed in Yang et al. (2022).

Table 1. Trigger numbers for agents.

	Agent 1	Agent 2	Agent 3	Agent 4
ETC scheme in Yang et al. (2022)	889	443	504	461
ETC scheme proposed in this paper	483	396	381	423

Yang, Y., X. Xi, S. Miao, and J. Wu. 2022. Event-triggered output feedback containment control for a class of stochastic nonlinear multi-agent systems. Applied Mathematics and Computation 418:126817. doi:10.1016/j.amc.2021.126817.

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Data availability statement

Data sharing is not applicable to this article as no new data were created or analyzed in this study.