基于事件触发非线性多智能体系统的固定时间一致性

Distributed event-triggered fixed-time consensus control for multi-agent systems with nonlinear uncertainties

本文研究了在有向拓扑下,带有非线性动力学多智能体系统的固定时间一致性问题.提出了一种新的基于事件触发机制的非线性控制策略,对于每个智能体给出了基于状态信息的事件触发条件,当状态误差满足所给条件时才触发事件,能有效的减小系统的能量耗散和控制器的更新频次.利用Lyapunov稳定性理论和代数图论,证明在该控制策略下,多智能体系统在固定时间能实现领导跟随一致性,且不存在Zeno行为.相较于有限时间一致性策略,采用固定时间一致性策略系统的收敛时间不再依赖于系统的初始状态.最后,仿真实例验证了理论结果的有效性.

In this paper, the problem of fixed-time consensus for multi-agent systems with nonlinear dynamics under directed network topology is studied. A novel nonlinear control strategy based on event triggering mechanism is proposed. The event triggering condition based on state information is given for each agent. The event is triggered when the state error satisfies the given condition. It can significantly reduce the communication consumption and the frequency of the controller updates. Based on the Lyapunov stability theorem and algebraic graph theory, it is shown that the multi-agent system can achieve consensus in fixed-time under the proposed nonlinear consensus protocols. Moreover, the bound of the triggering interval is provided to illustrate that no Zeno behavior exists. Compared with the finite-time consensus tracking, the fixedtime consensus tracking can be achieved within a settling time regardless of the initial conditions. Finally, numerical simulations illustrated the effectiveness of the theoretical results.