Dynamic event-triggered cooperative control of nonlinear time-delay multi-agent systems subject to performance constraints and external disturbances

Zhao-Yi Zong, Fen-Fen Guan, Shan-Liang Zhu, Yu-Qun Han and Qing-Hua Zhou

Chaos, Solitons & Fractals, 2026, vol. 210, issue P2

Abstract: This paper investigates the dynamic event-triggered cooperative control problem for a class of nonlinear multi-agent systems (NMASs) with performance constraints and state time-delays. Firstly, a novel piecewise finite-time prescribed performance function is introduced, and an associated error transformation mechanism is constructed to guarantee that the tracking errors of the NMASs remain within the predefined performance bounds. Secondly, the Lyapunov–Krasovskii (LK) functional is incorporated into the conventional Lyapunov function to effectively address the influence of state time-delays on system stability. Meanwhile, an multi-dimensional Taylor network is employed to approximate the unknown nonlinear functions, which reduces the design complexity of the controller while improving the approximation accuracy. Thirdly, to reduce the number of information transmissions, a dynamic event-triggered mechanism (DETM) is designed to effectively decrease communication resource utilization. Theoretical stability analysis shows that under the proposed control strategy, all signals in the closed-loop system are bounded, the tracking error satisfies the prescribed performance requirements and Zeno behavior is excluded. Finally, a numerical simulation and a single-pendulum robotic manipulator example are provided to verify the effectiveness of the proposed control method.

Keywords: Nonlinear multi-agent systems; Multi-dimensional Taylor network; Prescribed performance; State time-delay; Dynamic event-triggered cooperative control (search for similar items in EconPapers)
Date: 2026
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Persistent link: https://EconPapers.repec.org/RePEc:eee:chsofr:v:210:y:2026:i:p2:s0960077926008465

DOI: 10.1016/j.chaos.2026.118705

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