基于事件触发脉冲控制的具有ROUs和RONs的非线性多智能体系统的领导跟随一致性研究

Leader-following Consensus of Nonlinear Multi-agent Systems with ROUs and RONs via Event-triggered Impulsive Control

设计了一个基于Lyapunov函数的事件触发函数,并在此基础上研究了一类具有随机发生不确定性和随机发生非线性的多智能体系统在事件触发脉冲控制策略下的领导跟随一致性。与人为设置脉冲时刻序列的控制方式不同,事件触发脉冲控制策略中脉冲控制时刻的产生依赖于事件触发函数,且当触发条件被满足时才激发脉冲控制,从而减少不必要的控制次数以及系统的资源消耗。基于脉冲微分方程理论、代数图论和Lyapunov稳定性理论,给出了受控多智能体系统实现领导跟随一致性所需要满足的充分性条件,同时证明了Zeno行为可以被排除。最后,通过Matlab实例仿真验证了本文理论结果的有效性。

In term of the event-trigger impulsive mechanism,this paper designs a new event triggering function based on the Lyapunov function,and the leader-following consensus of multi-agent systems with randomly occurring uncertainties and randomly occurring nonlinearities is studied.Different from the control method of artificially setting the impulse time sequence,the generation of the impulsive moment depends on the designed triggering function,and when the trigger condition is met,the impulsive control is activated to reduce unnecessary control times and resource consumption.Based on impulsive differential equation theory,algebraic graph theory,and Lyapunov stability theory,the sufficiency conditions that controlled multi-agent systems can achieve the leader-following consensus are given.Meanwhile,the Zeno behavior can be excluded.Finally,the feasibility of the obtained results is verified by a numerical example.