Asian Journal of Control· 2026Q2
Active Disturbance Rejection Event‐Triggered Formation Tracking Control for Multiagent Systems With Switching Topology
- 0citations
- Q2SCImago
- 2026year
Short summary
A new event-triggered control strategy for multiagent systems estimates and compensates for external disturbances in a prescribed time, using a dynamic ETM during transient response and switching to a static ETM in steady-state.
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Key points
- A prescribed-time extended state observer estimates and compensates for external disturbances in multiagent systems.
- A two-stage event-triggered mechanism switches from dynamic to static ETMs to optimize resource usage.
- The control strategy ensures practical fixed-time stability for systems with switching directed topologies.
- The proposed method effectively excludes the Zeno phenomenon.
AI-generated from the title and abstract; the full text is not read.
Abstract
ABSTRACT This paper addresses the time‐varying formation tracking (TVFT) problem of multiagent systems with followers subjected to nonlinear external disturbances. A new distributed event‐triggered TVFT control strategy with an active disturbance rejection scheme is proposed using only neighboring interaction. Firstly, a prescribed‐time extended state observer is established for each follower to estimate the disturbance in a prescribed time, which provides the controller with real‐time disturbance compensation. Then, to save limited resources, a novel two‐stage event‐triggered mechanism (ETM) is introduced. A dynamic ETM is applied during the transient response stage and is switched to a static ETM with larger fixed trigger thresholds once the system reaches the steady‐state stage, overcoming the problem of excessively small thresholds caused by the dynamic ETM. It is proven that the proposed method guarantees practical fixed‐time stability under switching directed topology and excludes the Zeno phenomenon. Finally, simulation examples are provided to demonstrate the effectiveness of the presented TVFT control solution.
The authors' abstract, as published at the source. Asian Journal of Control, 2026 · DOI ↗
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Computer Networks and CommunicationsComputer Science