| 引用本文: | 唐 云,唐朝君,魏正元.基于事件触发的非线性多智能体系统一致性(J/M/D/N,J:杂志，M：书，D：论文，N：报纸).期刊名称,2023，40（3）：106-112 |
| CHEN X. Adap tive slidingmode contr ol for discrete2ti me multi2inputmulti2 out put systems[ J ]. Aut omatica, 2006, 42(6): 4272-435 |
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| 摘要: |
| 针对有向网络拓扑下具有非线性动态的多智能体系统,提出了基于事件触发的一致性控制协议;在实际的多智能体系统中,每个智能体的机载电池的容量和数量是有限的,基于事件触发的一致性协议能够有效地减少智能体控制器的更新次数,从而节约有限的计算资源;智能体的触发时刻由智能体的触发条件所确定,每个智能体只在触发时刻才更新自己的控制器;首先研究了集中式的一致性控制协议,主要利用矩阵理论的方法将一致性问题转化为微分方程的稳定性问题,得到了系统达到一致性的条件;然后研究了分布式的一致性控制协议,在协议中每个智能体只需利用邻居智能体的状态;利用Lyapunov稳定性理论证明了所设计的两个协议能够解决一致性问题,而且不会出现Zeno现象;最后,仿真实例验证了理论结果的有效性。 |
| 关键词: 多智能体系统 一致性 非线性动态 事件触发控制 有向拓扑 |
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| Consensus of Nonlinear Multi-agent System Based on Event-triggered Control |
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TANG Yun, TANG Zhaojun, WEI Zhengyuan
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College of Science, Chongqing University of Technology, Chongqing 400054, China
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| Abstract: |
| For multi-agent systems with nonlinear dynamics under directed network topology, a consensus control protocol based on event triggering was proposed. In the actual multi-agent system, the capacity and quantity of on-board batteries of each agent are limited. The consensus protocol based on event triggering can effectively reduce the update times of agent controller, so as to save limited computing resources. The trigger time of the agent is determined by the trigger conditions of the agent. Each agent updates its own controller only at the trigger time. Firstly, the centralized consistency control protocol was studied. The consensus problem was transformed into the stability problem of differential equations by using the method of matrix theory, and the conditions for the system to achieve consensus were obtained. Then, a distributed consensus control protocol was studied in which each agent only needed to use the state of neighbor agents. By using Lyapunov stability theory, it is proved that the two protocols can solve the consensus problem without Zeno phenomenon. Finally, a simulation example verified the effectiveness of the theoretical results. |
| Key words: multi-agent system consensus nonlinear dynamics event-triggered control directed topology |
