基于事件驱动的一般线性多智能体系统的一致性

Event-based consensus of general linear multi-agent systems

多智能体系统不仅是复杂系统研究中的一类重要系统,也是分布式人工智能研究的一个重要分支。多智能体系统的协调控制是当前国际控制领域的前沿研究方向,其中,多智能体系统的一致性是最基本问题。采用事件驱动控制方法,研究了一类一般线性多智能体系统的一致性问题。通过设计合理的事件驱动函数与激励条件,确定事件驱动时间序列,利用邻域内其他个体在事件驱动时刻点处的信息,设计相应的控制策略,从而获得多智能体系统达到一致的充分条件。同时本文在研究模型上,采用传统的一般化模型,而研究方法上不再需要Laplacian矩阵具有对称性,就可以获得一类线性多智能体系统达到一致的充分条件,所得结果简化改进了过去的模型。

Multi-agent system is not only the study of complex systems in an important class of system,but also is an important branch of distributed artificial intelligence research.Cooperative control of multi-agent system is control of frontier research direction of current international,the consistency of multi-agent system is the most basic problem.This paper studies the event-based consensus of multi-agent systems with general linear models.The control strategy is designed,which is based on its neighbor information at the triggering time determined by the prescribed trigger function and trigger condition.A sufficient condition is presented,which extends and improves some results published recently in literature.At the same time,we used the general model of the traditional research methods,and there is no need for Laplacian matrix which is symmetrical,and it can be obtained for a class of linear multi-agent system to achieve the sufficient condition of consistency.The results can simplify and improve the past model.