Event-Triggered Fixed-Time Attitude Consensus With Fixed and Switching Topologies

• 成果类型: Article
• 署名作者: Jin, Xin; Shi, Yang; Tang, Yang; Werner, Herbert; Kurths, Juergen
• 署名单位: East China University of Science & Technology; University of Victoria; Hamburg University of Technology; Potsdam Institut fur Klimafolgenforschung; Humboldt University of Berlin; Lobachevsky State University of Nizhni Novgorod
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2021.3108514
• 发表日期: 2022
• 页码: 4138-4145
• 关键词: Consensus protocol; TOPOLOGY; Attitude control; CONVERGENCE; switches; Multi-agent systems; Jacobian matrices; Attitude consensus; event triggered; Fixed-time stability; switching topologies

摘要

In this article, event-triggered attitude consensus is considered for multiagent systems with guaranteed fixed-time convergence. Due to the non-Euclidean property of the attitude configuration space, the attitude consensus is more challenging to achieve under the sampled-data setting. An event-triggered attitude consensus protocol and event-triggered condition are proposed based on the axis-angle attitude representation. The fixed-time attitude consensus is reached if the initial attitudes lie in local regions on the attitude configuration space. The theoretical results reveal that the settling time is related to the interevent interval and the algebraic connectivity of the topology graph. We further consider the consensus protocol under a jointly connected graph, and establish the settling time estimation that depends on the switching instants. Numerical simulations are conducted to verify the validity of the theoretical results finally.