任意预设时间下事件触发二阶系统编队控制

Event-triggered formation control of second-order systems with arbitrary preset-time

中文关键词  任意预设时间控制  事件触发  编队控制  二阶多智能体系统

英文关键词  arbitrary preset-time control  event-triggered  formation control  second-order multi-agent systems

中文摘要

      本文研究任意预设时间下事件触发的多智能体网络系统的编队控制问题. 针对二阶多智能体系统, 设计分布式的事件触发控制协议, 使得系统在物理允许范围的任意预设时间内迅速实现编队期望, 设定的控制时间独立于系统初始状态和参数. 同时, 构造事件触发条件函数和协议机制, 使用智能体及其邻居的采样状态, 可节约通信和计算资源. 基于李雅普诺夫稳定性和代数图论等理论, 讨论获得任意预设时间内二阶系统实现编队期望的控制协议参数的取值范围, 证明在预设时间跨度内的事件触发时刻可避免 Zeno 行为. 最后, 数值仿真验证设计协议的可行性和有效性.

英文摘要

      This study focuses on the formation control problem of multi-agent network systems under event-triggered mechanisms within any preset time interval. A distributed event-triggered control protocol is developed for second-order multi-agent systems, aimed at achieving the desired formation swiftly within any given physical permissible time interval, with the timing of control being independent of the system’s initial states and parameters. Additionally, an event-triggered condition function and a protocol mechanism are established, leveraging the sampled states of agents and their neighbors to conserve communication and computational resources. Employing theories of Lyapunov stability and algebraic graph theory, this research discusses the range of values for control protocol parameters that are necessary to realize the desired formation of the second-order system within the preset time interval, and prove that the Zeno behavior can be avoided at the event-triggered moments within the preset time span. Finally, numerical simulation verifies the feasibility and effectiveness of the designed protocol.