Fuzzy Adaptive Finite-Time Event-Triggered Control of Time-Varying Formation for Nonholonomic Multirobot Systems

摘要

This article studies the problem of fuzzy adaptive finite-time event-triggered time-varying formation tracking control for nonholonomic multirobot systems with multiple constraints. The adaptive method and fuzzy logic systems (FLSs) are employed to approximate unknown nonlinear functions in robotic dynamics. Considering the limitations of robot's vision field and communication distance, a universal barrier function and the prescribed performance technique are introduced to achieve collision avoidance and connectivity maintenance. Furthermore, in order to save the resources of information transmission and reduce the number of actuators executions reasonably, an event-triggered mechanism is designed. The robots can interact with their leader at event-triggering time, and also quickly track the leader's time-varying trajectory in finite time. With the aid of dynamic surface technique, an adaptive finite-time event-triggering (FTET) formation control scheme is further proposed, which guarantees that formation tracking errors converge into a small neighborhood of zero in finite-time and all signals in the controlled systems are bounded. Ultimately, we demonstrate the feasibility of the FTET formation control scheme for nonholonomic multirobot systems.