分布式事件触发多自主体领导跟随一致性研究

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Title:

Distributed event-triggered consensus control of multi-agent systems with leader-following

作者:

刘远山¹, 杨洪勇¹, 李玉玲¹, 刘凡¹, 杨怡泽²

1. 鲁东大学 信息与电气工程学院, 山东 烟台 264025;
2. 新南威尔士大学 电机工程与通信学院, 澳大利亚 悉尼 2052

Author(s):

LIU Yuanshan¹, YANG Hongyong¹, LI Yuling¹, LIU Fan¹, YANG Yize²

1. School of Information and Electrical Engineering, Ludong University, Yantai 264025, China;
2. School of Electrical Engineering and Telecommunications, The University of New South Wales, Sydney 2052, Australia

关键词:

多自主体系统; 二阶系统; 事件触发机制; 芝诺行为; 领导跟随; 一致性; 李雅普诺夫函数; 计算机仿真

Keywords:

multi-agent systems; second-order system; event-triggered mechanism; Zeno behavior; leader-following; consensus control; Lyapunov function; computer simulation

分类号:

TP18

DOI:

10.11992/tis.201809035

摘要:

为了提高系统的通信效率和能源利用率，减少多自主体系统硬件资源的浪费，提出了只需要自主体自身及其最近邻居节点信息的分布式事件触发控制算法。研究了带有动态领导者的二阶多自主体系统领导跟随一致性问题。应用矩阵论和现代控制理论研究了在分布式事件触发机制下的二阶系统，得到了基于事件触发机制的多自主体系统协同运动的收敛条件。通过理论分析与计算表明，在此控制协议下不会存在芝诺行为，并且多自主体系统可以实现领导跟随一致性。最后，应用计算机仿真验证了本文所提控制协议的可靠性。

Abstract:

For second-order multi-agent systems with a dynamic leader, the problem of leader-following consistency is investigated herein. To reduce wastage of hardware resources and improve the communication efficiency of multi-agent systems, a distributed event-triggered control algorithm is proposed, which depends only on the agent states of each agent and its neighbors. The closed-loop model of second-order multi-agent systems is established with the distributed event-triggering mechanism. Through the matrix and modern control theories, the convergence condition of multi-agent systems’ cooperative motion based on the distributed event-triggered mechanism is obtained. Through theoretical analysis and calculation, the absence of Zeno behavior is confirmed in this control protocol. Finally, the effectiveness of the algorithm is verified through simulation experiments.