动态事件触发机制下二阶多智能体系统完全分布式控制

Fully distributed control for second-order multi-agent systems based on dynamic event-triggered mechanism

中文关键词  多智能体系统  一致性  动态事件触发控制  完全分布式控制

英文关键词  multi-agent systems  consensus  dynamic event-triggered control  fully distributed control

中文摘要

      本文研究了无向通信拓扑下二阶多智能体系统的一致性问题, 分别针对有领导者和无领导者的情形, 设计 了一类基于辅助动态变量的完全分布式事件触发控制策略, 该策略具有参数较少且易调等特点. 智能体自身的触 发函数满足条件时才向邻居广播自身的状态信息, 有效避免了连续通信, 减少了系统能量耗散. 每个智能体的控制 协议和触发函数都只用到自身的状态和邻居触发时刻的状态, 不涉及邻居的实时状态信息, 也不依赖通信拓扑网络 的任何全局信息. 利用代数图论以及Lyapunov稳定性理论, 证明在所提出的控制策略下, 二阶多智能体系统能够实 现渐近一致性, 且不存在Zeno行为. 仿真示例进一步验证了理论结果的有效性.

英文摘要

      In this paper, the consensus problem of second-order multi-agent systems under undirected communication topology is studied. A fully distributed event-triggered control strategy based on the auxiliary dynamic variables is designed for the situation of leader and leaderless respectively, and the strategy has the characteristics of few parameters and easy adjustment. Only when the agent reaches the event-triggered condition, it broadcasts its state information to neighbors, which effectively avoids continuous communication and reduces the energy dissipation of the system. The control protocol and event-triggered law of each agent does not use the neighbor’s continuous state information, but only uses its own state information and the neighbor’s state information at the triggering instants. In addition, it does not rely on any global information of the communication topology network. Using the algebraic graph theory and Lyapunov stability theory, it is proved that under the proposed strategy, the multi-agent system achieves consensus asymptotically without Zeno behavior. A simulation example further demonstrates the effectiveness of the theoretical results.