摘要
研究了一类具有动态领导者的一阶多智能体系统的一致性问题。基于事件触发机制给出两种一致性协议,即集中式触发控制协议和分散式触发控制协议。利用李雅普诺夫稳定性理论和模型转化方法分别给出多智能体系统在两种协议作用下达到领导跟随一致的充分条件。同时,理论计算表明,系统在两种控制协议下均不存在Zeno行为。实例仿真结果验证了理论方案的有效性。
This paper is concerned with the leader-following consensus problem of first-order multi-agent systems. Based on event-triggered control mechanism two kinds of agreement are established, that is, the centralized event-triggered control and the decentralized event-triggered control. Under the two schemes proposed, some sufficient conditions for the leaderfollowing consensus of first-order multi-agent system are given by using Lyapunov stability theory and model transformation method. Similarly, the theoretical calculation shows that Zeno behavior does not exist in the systems. Numerical simulations are presented to validate the effectiveness of the theoretical results.
作者
黄红伟
黄天民
HUANG Hongwei;HUANG Tianmin(School of Electronic Engineering, Southwest Jiaotong University, Chengdu 610031, China;School of Mathematics, Southwest Jiaotong University, Chengdu 610031, China)
出处
《计算机工程与应用》
CSCD
北大核心
2017年第6期29-33,共5页
Computer Engineering and Applications
基金
国家自然科学基金(No.71371156)
中央高校基础研究基金资助项目(No.2682014ZT28)
关键词
多智能体系统
领导跟随一致性
集中式事件触发
分散式事件触发
multi-agent system
leader-following consensus
centralized event-triggered control
decentralized event-triggered control
