Output-constrained fixed-time coordinated control for multi-agent systems with event-triggered and delayed communication

Abstract

In this study, we propose a fixed-time coordinated controller for high-order multi-agent systems dealing with output constraints and switching digraphs while considering event-triggered and delayed communication. To tackle the scenario where only a subset of agents have direct access to the leader, a novel event-triggered fixed-time observer is first devised. This observer effectively estimates the state of the leader, considering the influence of communication delays. Subsequently, a neural network-based fixed-time controller is formulated under output constraints, utilizing the estimated leader commands to achieve the desired control objectives. Finally, practical experiments are conducted using omni-mecanum-wheeled robots to demonstrate the practical feasibility and superior performance of the theoretical findings. This study contributes significantly by tackling the challenging problem of output-constrained fixed-time coordinated control in event-triggered and delayed communication within switching digraphs. This area has yet to be previously explored.