A connectivity-preserving performance guarantee for cooperative control method with improved switching event-triggered mechanism

Abstract

An adaptive tracking control scheme is designed for multiagent systems. To ensure a certain communication range between agents, a connectivity-preserving performance guarantee mechanism is proposed, which increases the consideration of the connection information between agents and the leader to further improve the cooperativity. Meanwhile, different from traditional constraint error methods, a boundary-based prescribed performance control scheme is constructed, which has the characteristic of getting the variable preset boundary. Furthermore, the improved switching event-triggered mechanism is developed, and the threshold parameters can be adjusted in real-time to adaptively change the update frequency of the controller. All signals are bounded in the closed-loop system. Finally, some simulation results affirm the validity of the control scheme.