积分事件触发策略下的线性多智能体系统领导跟随一致性
作者:
作者单位:

大连理工大学

作者简介:

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中图分类号:

0811

基金项目:

国家自然科学基金项目(61773085)


Leader-following Consensus for Linear Multi-agent Systems based on An Integral-type Event-triggered Strategy
Author:
Affiliation:

Dalian University of Technology

Fund Project:

National Natural Science Foundation of China(61773085)

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    摘要:

    研究有向切换拓扑下线性多智能体系统的事件触发一致跟踪问题.\;大多数存在的工作研究了固定拓扑下的事件触发控制,然而,当智能体间联系随时间发生改变或通信拓扑随时间发生变化时,该控制策略失效,在考虑切换拓扑的基础上提出了一种基于积分型事件触发的控制策略.\;首先,当拓扑图包含一棵生成树且领导者是根节点时,利用Lyapunov稳定性理论,代数图论和矩阵变换,基于积分型事件触发协议,在切换拓扑下多智能体系统达到领导跟随一致性.\;其次,当存在多个领导者时,基于设计的触发机制,在切换拓扑下多智能体系统实现包含控制.\;同时,在上述两种情况下,闭环系统都不存在Zeno 现象.\;最后,仿真结果验证了控制策略的有效性.

    Abstract:

    Distributed event-triggered consensus tracking is researched for multi-agent systems with general linear dynamics under directed switching topologies. Most existing works focus on event-triggered control with fixed communication topology, which however can not meet the demand that the relations among agents may vary or the communication topology may change over time. In light of this, an integral-based event-triggered control strategy is developed in the consideration of switching topologies. Firstly, when the communication topology contains a directed spanning tree with the leader being the root, we solve the integral-type event-triggered leader-following consensus under switching topologies by using Lyapunov stability theory, algebraic graph theory and matrix transformation. Secondly, integral-type event-triggered containment control of multi-agent systems is investigated under switching topologies when there exist multiple leaders. Moreover, the Zeno-behavior of the closed-loop systems is excluded by developing a positive constant lower bound under the proposed control rules in both above-mentioned cases. Finally, simulations are presented to verify the validity of the proposed control strategy.

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历史
  • 收稿日期:2020-12-15
  • 最后修改日期:2021-03-11
  • 录用日期:2021-03-16
  • 在线发布日期: 2021-04-01
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