基于观测器的多智能体系统动态事件触发有限时间二分一致性

Observer-based dynamic event-triggered finite-time bipartite consensus for multi-agent systems

中文关键词  多智能体系统  动态事件触发控制  有限时间二分一致性  状态估计

英文关键词  multi-agent systems  dynamic event-triggered control  finite-time bipartite consensus  state estimation

中文摘要

      针对一般线性多智能体系统在智能体状态信息无法完全获取且通信资源有限情况下的实际有限时间二分 一致性问题,采用输出反馈方法引入龙伯格观测器,并基于估计的观测状态,设计了一种分布式动态事件触发有限 时间二分一致性协议.该协议考虑了智能体间合作与竞争关系共存的网络拓扑特性,有效克服了实际应用中智能体 状态测量的限制,并显著减少了系统通信频率.同时,利用有限时间稳定性理论、代数图论和矩阵论,分析得出了多 智能体系统在所设计控制协议下可解实际有限时间二分一致性问题的充分条件,并证明了系统不存在Zeno行为. 由于构建了匹配有限时间二分一致性控制的动态事件触发机制,因而提出的控制算法在节省系统通信资源方面具 有令人满意的优势.最后,通过仿真实例验证了理论结果的可行性和有效性.

英文摘要

      To address the practical finite-time bipartite consensus problem of general linear multi-agent systems where the agents’ state information is not fully accessible and communication resources are limited, a Luenberger observer is introduced by adopting output feedback approach, and a distributed dynamic event-triggered finite-time bipartite consensus protocol is designed based on the estimated observer state. This protocol takes into account the coexistence of cooperative and competitive relationships in the network topology, effectively overcoming the limitations of agent state measurement in practical applications and significantly reducing the communication frequency of the system. Meanwhile, utilizing finite time stability theory, algebraic graph theory, and matrix theory, sufficient conditions are derived under which the multi-agent system can achieve practical finite-time bipartite consensus with the designed control protocol, and it is proven that the system is free from Zeno behavior. By constructing a dynamic event-triggered mechanism that matches the finite-time bi partite consensus control, the proposed control algorithm exhibits satisfactory advantages in saving system communication resources. Finally, the feasibility and effectiveness of the theoretical results are verified through simulation examples.