Event‐Triggered Based Adaptive Finite‐Time Enclosed Control for Multirobot Systems via Bearing Information

ABSTRACT This paper investigates an event‐triggered (ET) adaptive finite‐time cooperative enclosed control issue for multirobot systems with angle constraints and symmetric input saturation. The hyperbolic tangent function is employed to approximate the symmetric saturated model. A barrier Lyapunov function (BLF) is constructed using bearing measurement data, which guarantees that the angle between the mobile robot and target, as well as between adjacent robots, can be constrained to meet the requirements of limited perception range and collision avoidance. Furthermore, to save communication resources and reduce the execution frequency of actuators, an ET mechanism is introduced in control design, and the Zeno impact is successfully avoided. Subsequently, combining the ET mechanism and the multiple angle constraints architecture, an ET based adaptive finite‐time enclosed control algorithm is proposed, which can not only ensure the angle errors converge to a small neighborhood of zero within a finite‐time, but also guarantee the boundedness of all signals in multirobot systems. In addition, it can ensure more accurate and rapid completion of the encirclement of the moving target with unknown velocity. Finally, the feasibility and effectiveness of the proposed control method and theory can be verified by simulation and comparative results.