切换拓扑下多智能体的动态事件触发固定时间一致性控制

Dynamic event-triggered fixed-time consensus control of multi-agent systems under switching topologies

中文关键词  动态事件触发控制  固定时间一致性  非线性多智能体系统  切换拓扑

英文关键词  dynamic event-triggered control  fixed-time consensus  nonlinear multi-agent systems  switching topologies

中文摘要

      对切换拓扑下含扰动的非线性多智能体系统, 本文提出了一种新的动态事件触发实际固定时间平均一致性控制方法, 该方法触发次数更少, 收敛速度更快. 通过设计辅助动态变量及其动态方程, 基于动态变量的幂次项建立了新的动态触发机制, 该机制减少了触发次数. 采用共同李雅普诺夫函数证明了所提方法可以保证多智能体系统在任意切换拓扑下实现实际固定时间平均一致性, 收敛时间上界可通过调节控制参数设定且不依赖于初始状态. 通过设计含双曲正切函数的测量误差, 证明所提方法不存在Zeno行为. 最后, 通过实验仿真验证了算法的有效性.

英文摘要

      A new dynamic event-triggered practical fixed-time average consensus control method is proposed for the nonlinear multi-agent systems with disturbances under switching topologies, and the proposed method converges faster with fewer trigger times. By designing auxiliary dynamic variables and corresponding dynamic equations, a new dynamic event-triggered mechanism is established based on the power terms of dynamic variables, which can reduce event trigger times. Using the designed common Lyapunov function, it is proved that the proposed method is able to guarantee that the multi-agent system can achieve practical fixed-time average consensus under switching topologies, and the upper bound of the convergence time can be set by adjusting the control parameters and is independent of the initial state of the system. By designing the measurement error involving the hyperbolic tangent function, it is proved that there is no Zeno behavior under the proposed method. Finally, some simulation results are provided to illustrate the effectiveness of the proposed control method.