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Event-triggered relay cooperative tracking strategy for networked nonlinear multi-agent systems with communication delays
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DOI：10.1080/00207721.2026.2680476.png)
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Abstract
En 中文
This paper investigates the relay cooperative tracking problem of networked nonlinear multi-agent systems under network delays, and introduces an event-triggered control strategy to reduce communication transmission. When the target crosses the monitoring area, the nearby agents will capture its distance from the target. The purpose of this study is to track targets traversing the monitoring area using a relay cooperative tracking strategy. To achieve more efficient target tracking by the agent, this paper designs a dynamic event-triggered mechanism on own error of the agent rather than errors between agents. This mechanism reduces the communication transmission between agents, thereby avoiding the impact of network delay in agent communication. The results show that the proposed relay event-triggered control strategy effectively enhances the tracking performance of the pursuing agents with respect to the target and significantly reduces the communication burden on the network. Additionally, the strategy incorporates a delay compensation mechanism to mitigate the effects of communication delays. Finally, the effectiveness of the proposed method is validated through simulation experiments.
Keywords:
Network delays
dynamic event-triggered mechanism
networked nonlinear multi-agent system
relay cooperative tracking control
data-driven control
model-free adaptive control
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