基于采样信息的事件触发多智能体一致性控制

Event-triggered Consensus of Multi-agent Systems with Sampled Data

针对具有固定无向拓扑的一阶多智能体系统的一致性问题进行了研究。为了降低各个智能体之间的通信频率以及控制器的更新速率,在一致性控制协议的基础上,采用了周期采样和事件触发机制相结合的方式,从原理上避免了芝诺行为的发生,并且结合了联合状态测量的方法,使得每个控制器只在自身的触发时刻进行更新。然后利用李雅普诺夫稳定性定理,对误差系统的稳定性进行分析,得到了多智能体系统达到一致性的充分条件。最后,通过数值仿真结果进一步验证了理论分析的有效性。

The consensus problem of first-order multi-agent system with fixed and undirected topology is studied.Abstract:On the basis of the consensus control protocol, the event-triggered consensus algorithm using sampled data is presented in order to reduce the communication frequency between each agent and the update rate of the controller. The Zeno behavior can be avoided in principle. At the same time, the combinational measurement is added to the protocol. As a result, the controller of agent is only triggered at its own event time. Then, the stability of the error system is analyzed by using the Lyapunov stability theorem, and the sufficient condition for the consensus problem of multi-agent systems is obtained. Finally, the effectiveness of the proposed algorithm is illustrated by simulation examples.