Optimal Formation Control of Second-Order Heterogeneous Multiagent Systems Using Adaptive Predefined-Time Strategy
- Resource Type
- Periodical
- Authors
- Zhang, J.; Fu, Y.; Fu, J.
- Source
- IEEE Transactions on Fuzzy Systems IEEE Trans. Fuzzy Syst. Fuzzy Systems, IEEE Transactions on. 32(4):2390-2402 Apr, 2024
- Subject
- Computing and Processing
Formation control
Stability analysis
Robustness
Optimal control
Closed loop systems
Topology
Task analysis
Backstepping technology
fuzzy logic systems (FLSs)
multiagent systems (MASs)
predefined-time optimal formation control
- Language
- ISSN
- 1063-6706
1941-0034
This article proposes a novel predefined-time optimal formation control approach for second-order heterogeneous multiagent systems with nonlinear dynamics and external disturbances. Fuzzy logic systems are used to identify unknown nonlinearities. To enhance the system's robustness against external disturbances, an $H_\infty$ control strategy is implemented. The predefined-time optimal formation control method is developed by leveraging backstepping technology and actor–critic framework. This approach is designed to guarantee that the closed-loop system is practical predefined-time stable and $L_{2}$-gain is less than or equal to a positive real number $\nu$, and all system signals are predefined-time bounded while minimizing the cost of maintaining a formation pattern between the leader and followers. Simulation results validate the effectiveness and superiority of this control strategy.