基于事件触发的非线性多智能体系统的固定时间分群一致性
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作者单位:

1.华东交通大学;2.华东交通大学电气与自动化工程学院

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A

基金项目:

非理想网络环境下多智能体系统的比例一致控制,国家自然科学基金(61973118); 面向高铁客站的人机共融巡检作业机器人技术及应用示范,江西省重点研发计划重点项目(20212BBE51010)


Fixed-time Group Consensus Control for Nonlinear Multi-agent Systems Based on Event-triggered Mechanism
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East China Jiaotong University

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    摘要:

    本文结合事件触发控制方法研究了非线性多智能体系统的固定时间分群一致性问题.提出了一种非线性分布式事件触发分群一致性控制协议,并给出了状态信息触发控制器更新的条件.该控制协议不受入度平衡条件限制且只需自身状态信息与邻居智能体进行通信即可在固定时间内快速实现分群一致性.系统收敛时间与智能体的初始状态无关,可有效降低系统控制器更新频率与系统的资源消耗.结合代数图论、矩阵分析与Lyapunov稳定性理论,证明在所提协议作用下,多智能体系统在固定时间内实现分群一致性,且不存在Zeno行为.最后,仿真实例检验了理论结果的可行性.

    Abstract:

    The problem of fixed-time group consensus for nonlinear multi-agent systems event-triggered based on mechanism is studied. A nonlinear distributed event-triggered group consensus control protocol is proposed, and the condition of updating controller triggered by states information is given. The control protocol is not restricted by the in-degree balance condition and only needs its own state information to communicate with the neighbor agents to achieve the group consensus quickly in fixed-time, and the convergence time is independent of the initial state of the agent. It can effectively reduce the system controller update frequency and system resource consumption. Combining algebraic graph theory, matrix analysis and Lyapunov stability theory, it is proved that under the proposed strategy, the multi-agent system can achieve group consensus in a fixed time, and Zeno behavior does not exist in the system. Finally, verifies the feasibility of the theoretical results by a simulation example.

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历史
  • 收稿日期:2022-03-16
  • 最后修改日期:2022-11-08
  • 录用日期:2022-06-24
  • 在线发布日期: 2022-07-10
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