Event-Triggered Reference Governors for Collisions-Free Leader-Following Coordination Under Unreliable Communication Topologies

• 成果类型: Article
• 署名作者: An, Liwei; Yang, Guang-Hong; Deng, Chao; Wen, Changyun
• 署名单位: Northeastern University - China; Northeastern University - China; Nanjing University of Posts & Telecommunications; Nanyang Technological University
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2023.3291654
• 发表日期: 2024
• 页码: 2116-2130
• 关键词: Collision avoidance; Target tracking; safety; transient analysis; TOPOLOGY; switches; Lyapunov methods; leader-following coordination; multiagent networks; systems security

摘要

Reference governors are add-on control schemes, which enforce state constraints on prestabilized systems by modifying, whenever necessary, the reference. This article studies the design schemes of reference governors for collisions-free leader-following coordination (CF-LFC) of nonlinear multiagent systems under unreliable communications. The unreliability is characterized as irregular topology switchings (e.g., due to communication failures, adversarial attacks, or other agents' blockages), which will often cause large transient coordination errors and further result in interagent collisions. To address it, an event-triggered reference governor is proposed, which dominates agents to perform the leader-following task if the tracking error meets the closed-loop system performance requirement, and otherwise the agents will temporarily forget the task and focus on avoiding collisions. By constructing heterogeneous Lyapunov functions, it is shown that the reference governor can achieve the CF-LFC despite the presence of topology switchings. Also, for a special class of nonlinear systems with strict-feedback form, a nonevent-triggered reference governor is further proposed by reconstructing the controller with a high-order integrator of barrier function as the control gain to adaptively adjust the transient tracking errors.