带领导者的多智能体系统的基于事件触发的双向趋同

Bipartite consensus of leader-follower multi-agent systems via event-triggered control

研究了具有领导者的多智能体系统的双向趋同问题.鉴于事件触发型的控制器具有更新频率低、节约通讯成本等优点,我们以跟随者的动力学为一阶积分器的多智能体系统为切入点,为跟随者设计了事件触发型的控制器.利用代数图论、矩阵分析和随机分析等相关理论,该文给出了所设计的控制器保证系统实现领导-跟随者双向趋同的通讯拓扑条件和增益条件,并且证明了这些条件是充分必要的.研究表明表征智能体间通讯关系的符号有向图结构平衡并且含有一棵生成树不仅是具有领导者的多智能体系统实现双向趋同的充分条件,也是必要条件.

This paper considers bipartite consensus of leader-follower multi-agent systems.As is known,the event-triggered controller has the advantages of low update frequency and low communication cost.By introducing a time-varying gain function,event-triggered controllers are designed for single-integrator followers.By using tools from algebraic graph theory,matrix analysis and stochastic analysis theory,communication topology condition and gain condition are given to ensure the leader-follower bipartite consensus based on the proposed event-triggered controllers.Moreover,these conditions are proved to be necessary and sufficient.It is found that the signed digraph being structurally balanced and having a spanning tree are not only sufficient but also necessary conditions for achieving leader-follower bipartite consensus.