基于事件触发的多智能体输入饱和一致性控制

Event-based consensus control of multiagent systems with saturating input

针对输入饱和情形,本文研究了Leader-following多智能体系统基于事件触发的一致性控制问题。为了更加接近实际情况,针对智能体的输入存在限制的情况,提出了基于线性触发函数的事件触发一致性控制算法,并利用S-procedure方法分析了控制算法的稳定特性。在该算法下,每个智能体的控制器更新都是基于事件触发的,并且是分布式的,即每个智能体只在自己的事件触发时间更新自己的控制输入。最后通过仿真验证了所设计算法的有效性。

The event-based leader-following consensus problem for linear multi-agent systems with saturation inputs is investigated in this paper.To more in line with the actual situation,the control input′s update is event driven,with which the triggering function is linear.By using S-procedure,the stability of the control algorithm is proofed.In this algorithm,the controller update of each agent is event driven and distributed,which makes the controller update by itself at the instant of the event trigger condition satisfying.Fi-nally,some simulations are provided to demonstrate the effectiveness of the proposed results.