自适应事件触发控制的多智能体系统保性能一致性研究

Adaptive event-triggered control for guaranteed cost consensus of multi-agent systems

针对带有领导者的多智能体系统同时存在非线性动态和能量消耗的问题,对其在有向固定拓扑结构下的领导跟随保性能一致性进行了研究。基于自适应事件触发控制方案,使用模型转换方法,将多智能体系统转化为误差系统;运用Lyapunov-Krasovskii泛函、弱无穷小算子及线性矩阵不等式等方法,得到了误差系统渐近稳定的充分条件;在此基础上,得到了保性能一致性控制器增益,并设计了相应控制器,使得多智能系统达到领导跟随保性能一致性,同时通过数值仿真进行了验证。研究结果表明:自适应事件触发控制方案能有效降低各个智能体之间不必要的通信传输,提高网络资源的利用率。

Aiming at the problem of non-linear dynamics and energy consumption in multi-agent systems with leader, the leader-following guaranteed cost consensus under directed fixed topology was studied. Based on the adaptive event-triggered control scheme, the multi-agent systems was transformed into an error system by using model transformation method. By utilizing Lyapunov-Krasovskii functional, weak infinitesimal operator and linear matrix inequality, sufficient conditions for asymptotic stability of error systems were obtained. Based on this, the guaranteed cost consensus controller gain was obtained, and the corresponding controller was designed to make the multi-agent systems achieve the leader-following guaranteed cost consensus. At the same time, it was verified by numerical simulation. The results indicate that the adaptive event-triggered control scheme can effectively reduce the unnecessary communication transmission between agents and improve the utilization of network resources.