基于事件触发的多智能体系统固定时间一致性

Fixed Time Consistency of Multi-Agent System Based on Event Triggering

针对有向拓扑情形下事件触发中带有非线性和扰动的领导-跟随多智能体系统,讨论解决固定时间一致性问题的方法。结合系统的微分方程,提出基于事件触发的非线性控制协议;应用Lyapunov稳定性理论和代数图论,证明多智能体系统在固定时间内可以实现领导-跟随的一致性;对各智能体给出事件触发的条件,并通过获取触发间隔最小值,从而实现对Zeno行为的排除。实验结果表明,所提方法具有可行性和有效性。

This paper focuses the event-triggered control problem for the leader-follower multi-agent system with nonlinear and disturbance under directed topology,and the method to solve the fixed time consistency is discussed.Based on the differential equation of the system,a nonlinear control protocol based on event triggering is proposed.Based on Lyapunov stability theory and algebraic graph theory,it is proved that the leader-follower consensus can be achieved in a fixed time for multi-agent systems.The conditions of event triggering are given for each agent.Moreover,the exclusion of Zeno behavior is proved by obtaining the minimum value of trigger interval.Finally,the experimental results show that the proposed method is feasible and effective.