一类非线性多自主体系统的实用脉冲一致性

Practical impulsive consensus of a class of nonlinear multiagent systems

针对一类非线性多自主体系统,研究基于实用脉冲控制的一致性协议设计问题.引入脉冲调制间歇控制策略,利用峰值很大,持续时间很短的信号代替理想脉冲信号,设计实用脉冲一致性协议.首先给出一类连续―间歇型实用脉冲协议.利用李雅普诺夫函数方法,图论和间歇控制理论,证明了在该协议下,多自主体系统可以实现渐近一致性.在连续—间歇型实用脉冲协议实施中,需在控制作用区间连续量测自主体状态.针对此局限,提出了采样―间歇型实用脉冲协议.通过采样和间歇控制理论,建立了多自主体系统实现渐近一致性的充分条件.进一步地,分析了当控制作用区间等于采样周期时,采样—间歇型实用脉冲协议退化为周期采样控制协议,而当控制作用区间趋于0时,其退化为脉冲控制协议.揭示了所提出的采样―间歇型实用脉冲协议同周期采样控制协议,脉冲控制协议之间的关系.

In this paper,the practical impulsive consensus protocol design is investigated for a class of nonlinear multiagent systems.By introducing the pulse-modulated intermittent control scheme,novel practical impulsive consensus protocols are proposed,where the signals with large peaks and short durations are used to replace the ideal impulsive signals.First,a continuous-intermittent-type practical impulsive protocol is given,and it is proved that the asymptotic consensus can be achieved by the protocol using the Lyapunov functional method,graph theory and the intermittent control theory.In the implementation of the continuous-intermittent-type practical impulsive protocol,it is necessary to measure the agents’states continuously in the control interval.In view of this limitation,the sampling-intermittent-type practical impulsive protocol is developed.Using the sampled-data and intermittent control theory,the sufficient condition on the asymptotic consensus is established.Furthermore,it is analyzed that the sampling-intermittent-type practical impulsive protocol degenerates into the periodic sampled-data protocol when the control interval is equal to the sampling period,and degenerates into the impulsive protocol when the control interval goes to 0.The relationship among the sampling-intermittent-type practical impulsive protocol,periodic sampled-data protocol and impulsive protocol is revealed.