竞合网络下带有事件触发的分布式跟踪研究

Research on distributed leader-following consensus withevent triggering in cooperative competitive networks

研究带有事件触发项的多智能体系统在合作竞争网络中的分布式跟踪问题。首先,提出一种分布式协议,并设计事件触发机制,使得个体在无向平衡网络中实现分布式两分跟踪;然后,在设计的机制下,运用李亚普诺夫稳定性定理证明所有个体均能实现分布式两分跟踪,且该事件触发机制不存在Zeno现象;最后,通过仿真实验验证了事件触发机制的有效性。

The distributed leader-following consensus problem of multi-agent systems with event-triggered mechanisms in cooperative and competitive networks is investigated.Firstly,a distributed protocol is proposed and an event-triggered mechanism is designed to enable individual to achieve bipartite consensus in an undirected balanced network.Then,under the designed mechanism,the Lyapunov stability theorem is used to prove that all individuals can achieve bipartite consensus,and the Zeno phenomenon under this event-triggered mechanism can be eliminated.Finally,the simulation verified the effectiveness of the event triggering mechanism.