| 引用本文: | 尚宇,刘成林,曹科才.切换拓扑下多自主体系统的事件触发一致性控制[J].控制理论与应用,2021,38(10):1522~1530.[点击复制] |
| SHANG Yu,LIU Cheng-lin,CAO Ke-cai.Event-triggered consensus control of multi-agent systems under switching topologies[J].Control Theory and Technology,2021,38(10):1522~1530.[点击复制] |
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| 切换拓扑下多自主体系统的事件触发一致性控制 |
| Event-triggered consensus control of multi-agent systems under switching topologies |
| 摘要点击 2309 全文点击 900 投稿时间：2020-12-28 修订日期：2021-09-24 |
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| DOI编号 10.7641/CTA.2021.00928 |
| 2021,38(10):1522-1530 |
| 中文关键词 非线性多自主体系统 切换拓扑 事件触发控制 有界一致性 |
| 英文关键词 nonlinear multi-agent systems switching topologies event-triggered control bounded consensus |
| 基金项目 国家自然科学基金项目(61973139, 61473138), 中央高校基本科研业务费专项资金(JUSRP22014)资助. |
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| 中文摘要 |
| 本文针对一阶非线性多自主体系统, 考察了切换拓扑下的事件触发一致性控制问题. 当切换拓扑子图的并
图包含有向生成树时, 基于一阶保持器提出了一种分布式事件触发一致性算法, 用以降低网络的通信负载. 运用迭
代法和不等式法, 得到了多自主体系统达到有界一致性的充分条件. 此外, 证明了所提事件触发机制不存在Zeno现
象, 并得到了触发间隔的正下界. 最后, 给出仿真实例, 验证了所提事件触发一致性算法和理论分析结果的有效性. |
| 英文摘要 |
| In this article, the consensus control problem is addressed for the first-order nonlinear multi-agent systems
under switching topologies. Under an assumption that the union graph of switching topologies contains a directed spanning
tree, a distributed event-triggered consensus algorithm using first-order hold is developed to decrease the network communication
load. Based on iterative method and inequality method, several sufficient criteria are obtained for the agents to
reach the bounded consensus. Furthermore, it is proved that Zeno behavior is excluded under the proposed event-triggered
algorithm, and the positive lower bound of the minimum inter-event times is given. Finally, the effectiveness of the proposed
even-triggered consensus algorithm and theoretical results are substantiated by means of a numerical simulation. |
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