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

作     者：Jiayu Chai Qiang Lu Xudong Tao Dongliang Peng Botao Zhang Jiayu Chai;Qiang Lu;Xudong Tao;Dongliang Peng;Botao Zhang

作者机构：School of AutomationHangzhou Dianzi UniversityHangzhou 310018China 

出 版 物：《自动化学报:英文版》 (IEEE/CAA Journal of Automatica Sinica)

年 卷 期：2023年第10卷第10期

页      面：2000-2013页

核心收录：

学科分类：0820[工学-石油与天然气工程] 0810[工学-信息与通信工程] 1205[管理学-图书情报与档案管理] 0711[理学-系统科学] 07[理学] 08[工学] 0802[工学-机械工程] 081101[工学-控制理论与控制工程] 0811[工学-控制科学与工程] 0812[工学-计算机科学与技术（可授工学、理学学位）] 071102[理学-系统分析与集成] 081103[工学-系统工程] 

基　　金：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) the Fundamental Research Funds for the Provincial Universities of Zhejiang (GK229909299001-004) 

主　　题：Dynamic event-triggered rule fixed-time consensus control fixed-time stability condition magnetic map construction multi-agent system 

摘      要：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 fixedtime 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 eventtriggered 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.