基于事件触发的二阶多智能体时滞一致性

Consensus of Secord-order Multi-agent with Time-delay based on Event Trigger

为了使多智能体可以减少信息交流,一致性问题在多智能系统的应用已被众多学者广泛研究,从而避免通信资源和计算资源的浪费;在有向拓扑图下,针对二阶的领导-跟随非线性多智能体系统,提出了一种基于事件触发机制和时滞一致性控制策略,对于每一个智能体给出事件触发条件,可以有效减少更新频率和系统能源的耗费;通过利用Lyapunov稳定性理论、矩阵知识、不等式放缩以及图论知识,得到了基于事件触发的二阶多智能体的系统在有领导者的情况下,实现滞后的一致性条件,随后也证明了相邻两次触发间隔大于零的这个结论,从而相应地排除了事件触发中常见的在一点无限次触发而导致的Zeno行为;最后,通过数值仿真进一步验证了所提的理论和方法是正确和有效的。

The consensus problem in the application of multi-agent system has been widely studied by many scholars in order to reduce the information exchange of the multi-agent system and avoid the waste of communication resources and computing resources.Under the directed topology,according to the second-order leader-follower multi-agent system with nonlinear dynamics,a new event trigger mechanism and time-delay consensus control strategy is proposed.The event triggering condition is given for each agent,which can effectively reduce the update frequency and the energy consumption of the system.By using Lyapunov stability theory,matrix knowledge,inequality scaling and graph theory knowledge,the condition for realizing delay consensus under the background of second-order multi-agent system with leader based on event trigger is achieved.Then we prove that the interval between two adjacent triggers is bigger than zero,which eliminates the Zeno behavior caused by infinite triggering at one point.Finally,numerical simulation further verifies that the mentioned theory and method are correct and effective.