A Novel Communication Time-Delay Cooperative Control Method with Switching Event-Triggered Strategy

Abstract

A novel communication time-delay classification-based method is designed for nonlinear multiagent systems with the finite-time prescribed performance function. The time-delay phenomenon for communication channels between agents is discussed. Then, an improved time-delay classification method is proposed to broaden the standard of classification mechanism by considering the degree of deviation and relative variation of neighbor agents, rather than classifying the delay time into large time-delay and small time-delay. Based on this, the unified Lyapunov-Krasovskii functional and the finite-time performance function are used to solve the large time-delay phenomenon and ensure that the error is within the preset boundary, respectively. Furthermore, a modified switching event-triggered strategy is put forward to reduce the transmission burden, which considers the impact of tracking error to adjust the threshold condition in real-time. Additionally, all signals of the closed-loop systems are bounded. Eventually, two simulation examples verify the validity of the control strategy.