基于事件触发的多智能体系统固定时间一致性
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Fixed-time Consensus for Multi-agent Systems Based on Event-triggered Control
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    目的 在有向拓扑下,针对非线性多智能体系统,研究其基于分布式动态事件触发的固定时间一致性问题。 方法 通过在静态事件触发策略基础上引入一个动态变量,提出每个智能体基于状态信息和动态变量的触发条件, 只有当测量误差符合该触发条件时,系统才会进行控制器的更新。 这个动态变量是可调节的阈值参数,能有效减 少大量事件触发,从而在静态事件触发策略的基础上进一步降低系统的资源损耗。 结果 利用代数图论、李雅普诺 夫稳定性理论和固定时间稳定性理论得到了系统实现固定时间一致性时,控制策略和触发函数中各参数需要满足 的条件和系统的收敛时间上界。 结论 相较于有限时间一致性系统的收敛时间依赖于系统的初始条件,利用设计的 固定时间一致性协议,系统的收敛时间与系统的初始条件无关,而且可以通过调整控制参数来确定收敛时间的上 界。 通过对测量误差的分析证明了在所提出事件触发策略下,系统可以避免出现芝诺行为,数值仿真例子验证了 理论结果的可行性。

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    Objective For nonlinear multi-agent systems under directed topology the fixed-time consensus problem based on distributed dynamic event triggering was studied. Methods By introducing a dynamic variable based on the static event-triggered strategy a triggering condition based on state information and dynamic variables was proposed for each agent and the controller of the system was updated only when the measurement error met this triggering condition. The dynamic variable serving as an adjustable threshold parameter effectively reduced the number of event triggers thereby further reducing the resource consumption of the system compared with the static event-triggered strategy. Results Using algebraic graph theory Lyapunov stability theory and fixed-time stability theory the conditions that needed to be satisfied for each parameter in the control strategy and trigger function when the system achieved fixed-time consensus and the upper bound on the convergence time of the system was also obtained. Conclusion While the convergence time of a finite-time consensus system depends on the initial conditions of the system the proposed fixed-time consensus protocol ensures that the convergence time is independent of the initial conditions and the upper bound of the convergence time can be determined by adjusting the control parameters. The analysis of the measurement error proves that Zeno behavior can be effectively avoided under the proposed event-triggered strategy. Finally numerical simulation examples demonstrate the feasibility of the theoretical results.

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夏梅妍,唐朝君.基于事件触发的多智能体系统固定时间一致性[J].重庆工商大学学报(自然科学版),2024,(6):72-79
XIA Meiyan TANG Zhaojun. Fixed-time Consensus for Multi-agent Systems Based on Event-triggered Control[J]. Journal of Chongqing Technology and Business University(Natural Science Edition),2024,(6):72-79

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  • 在线发布日期: 2024-11-11
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