Event-based adaptive formation and tracking control with predetermined performance for nonlinear multi-agent systems

The article focuses on the event-based predetermined performance formation tracking control for uncertain nonlinear multi-agent systems. Each agent is subject to actuator saturation constraint and full-state constraints. To meet the full-state constraints, a barrier function-based nonlinear mapping method is employed instead of the barrier Lyapunov function, such that the undesirable “feasibility conditions” are eradicated. To overcome actuator saturation, the auxiliary systems are utilized to let the controller be designed under the framework of backstepping. The approximation capacity of RBF NNs and adaptive methods are adopted, which can solve unknown uncertainties. An event-triggered predetermined performance formation tracking control strategy is designed, which can guarantee that the agents form the prescribed formation shape in a predetermined settling time and have a fine transient and steady-state tracking performance, while reducing the communication burden from the controller to the actuator. At last, an example of unmanned aerial vehicles is given to test the availability of the results.