事件触发控制下具有时滞和干扰的多智能体系统固定时间二部一致性

Event-Based Fixed-Time Bipartite Consensus for Multi-Agent Systems with Time Delay and Interference

本文研究了具有时滞和未知干扰的多智能体系统固定时间二部一致性问题.首先,设计了一个固定时间事件触发控制器;然后,利用代数图理论、固定时间稳定性理论和集值李导数,证明系统在控制协议下能够在固定时间内实现二部一致.此外,证明了系统在提出的事件触发算法下不会产生Zeno现象;最后,通过两个数值例子验证了理论分析的正确性.

This article studies the fixed-time bipartite consensus problem of multi-agent systems with time delay and unknown interference.First,a fixed-time event-triggered controller is designed.Then,using algebraic graph theory,fixed-time stability theory and set-valued Lie derivative,we prove that the system can achieve bipartite consensus within a fixed time under the control protocol.In addition,the system will not produce Zeno phenomenon under the proposed event-triggered algorithm.Finally,the validity of the theoretical analysis is verified by two numerical examples.