Event-triggered finite-time formation control for second-order leader-following multi-agent systems with nonlinear term time delay

ABSTRACT

Event-triggered finite-time formation control is considered for second-order leader-following multi-agent systems with nonlinear term time delay in this study. Collision avoidance radius is designed for a class of second-order nonlinear multiagent systems to avoid collisions between agents. Collision avoidance control is realised by detecting the flight radius. Control cost is economised, and communication volume is reduced by controlling key nodes and designing an event-triggered control strategy. The system can realise formation control in finite time by designing an FTC function. Some sufficient conditions for the formation of the second-order multi-agent system in finite time are obtained by using Lyapunov stability theory and analysis. The integral sliding mode control algorithm and finite-time stability theory are used to enhance the robustness of the system, and the upper bound of finite time is given. At the same time, the ability of the designed event-triggered function to avoid Zeno behaviour is proven. Finally, the feasibility of the results is verified through a numerical simulation.

KEYWORDS:

• Event-triggered formation control
• collision avoidance control
• nonlinear term time delay
• finite time
• integral sliding mode

Disclosure statement

No potential conflict of interest was reported by the author(s).

Additional information

Funding

This work was supported by Nazarbayev University under Collaborative Research Program [grant number 11022021CRP1509] the Science Committee of the Ministry of Education and Science of the Republic of Kazakhstan [grant number OR11466188] National Natural Science Foundation of China [grant number 11972156].