分布式事件触发下的多智能体分组一致性

Group Consensus of Multi-agent Systems Under Distributed Event-triggered Mechanism

在事件触发机制的基础上,针对多智能体系统分组一致性问题,提出了一种新的分组一致性算法。该算法中,由于所属分组的不同,智能体间具有不同的耦合参数,并且本文给出了该参数的选取条件。通过对一阶多智能体系统的研究发现,触发条件同时取决于耦合参数及分组内智能体数量,而触发时间间隔的下界仅受系统内智能体总数的影响。仿真结果在验证所提算法有效性的基础上,还表明了耦合参数对收敛速度、触发频度和时间间隔有调节作用。

Based on event-triggered mechanism,this paper proposes a novel algorithm for group consensus problem of multi-agent systems.In this algorithm,agents have different coupling parameters between each other because they belong to different groups,and the method to choose proper parameters is given in the paper.By the research for first-order multi-agent system,it is found that triggering condition is influenced by both the coupling parameters and the amounts of agents in those groups,while the lower bound of triggering time intervals is only affected by the total number of agents in the system.Finally,simulation results verify the effectiveness of this algorithm,and it also indicates that the coupling parameters can regulate the convergence speed,the triggering frequentness and time intervals.