基于事件驱动的多智能体有限时间分群一致控制

Finite-time group consensus for second-order multi-agent systems with event-triggered control

针对二阶线性多智能体系统的分群一致控制问题,考虑智能体通信拓扑同时包含协作和对抗关系,提出一种基于事件驱动控制的有限时间分布式领航跟随分群一致性算法,该算法可使多智能体系统在有限时间内实现分群一致,即各子组内的智能体实现状态一致,不同子组收敛至不同一致状态.采用事件驱动控制机制,设计事件驱动函数及事件触发条件,降低智能体控制器更新频率,减少系统能耗.基于代数图论和李雅普诺夫稳定性理论推导出系统的有限时间稳定性条件,通过巧妙构造Lyapunov函数,给出系统有限收敛时间的显式估计,同时证明在所提出的事件驱动机制下,每个智能体相邻触发时间间隔有严格的正下界,即避免了芝诺行为.仿真实验验证了所提出的有限时间事件驱动分群一致控制算法的有效性.

Considering that the interaction topology among agents contains both cooperative and competitive relationships,the group consensus control problem for second-order multi-agent systems is investigated. A distributed finite-time leaderfollowing group consensus algorithm based on event-triggered control mechanisms is proposed. The proposed control protocol can drive the second-order system to achieve group consensus within a finite settling time. Specifically speaking,agents in the same subgroup converge to an identical consensus value and converge to different ones if they belong to different subgroups. An event-triggered control mechanism is adopted to reduce the update frequency of the controller and further conserve energy consumption. The finite-time stability condition is derived based on the algebraic graph theory and the Lyapunov stability theory. An explicit estimation of the finite convergence time is deduced by subtly constructing the Lyapunov function. Rigorous proof shows that the lower bound of the two consecutive triggering time intervals is strictly positive, thus excluding the undesirable Zeno behavior. The simulation example illustrates the effectiveness of the theoretical results.