具有输入时延的离散时间多智能体系统事件触发编队控制研究

Event-triggered formation control of discrete-time multi-agent systems with input time-delay

利用复Laplacian研究了一类由复差分方程描述的离散时间多智能体系统事件触发编队控制问题。通过构造含有智能体状态信息及指数衰减函数的事件触发函数,根据事件触发条件确定了事件触发时间序列。设计的触发函数仅利用邻居的离散信息,避免了智能体之间的连续通信,极大地节约了有限的通信带宽资源和计算资源。设计了含有输入时延且只在事件时间序列点处触发的控制器,大大减少了控制器的更新频率,避免了控制器的连续更新。在事件驱动控制策略下,证明了多智能体系统能形成任意给定队形的相似编队的充分条件,并且给定了输入时延存在的范围。同时,也排除了事件触发时间序列在离散意义下可能存在的Zeno现象。通过数值仿真例子验证了该文理论结果的有效性。

The event triggered formation control problem for a class of discrete-time multi-agent systems described by complex difference equations is studied by using complex Laplacian.The event-triggering time sequence for each agent is defined by the triggering function which includes the state information and an exponential decay item.The event triggering time series are determined according to the event triggering conditions.The design of triggering function only uses the discrete-time information of its neighbors,avoids continuous communication among neighboring agents,andgreatly saves the limited bandwidth.The event-triggered controller for each agent is designed and the controller update frequency is reduced.Continuous updating of controllers is avoided.The input time-delay is also considered.Under the event-triggered control strategy,a sufficient condition for achieving similar formation of arbitrary given formation is obtained,and the range of input delay is given.Furthermore,the Zeno-like behavior of the event-triggering time sequence is excluded.Finally,a numerical simulation is presented to show the effectiveness of the theoretical result.