事件触发控制下多智能体系统的部分分量一致性

Event-Triggered Control for Partial Component Consensus of Leader-Following Multi-agent Systems

在结构复杂且通信资源有限的网络系统中应用事件触发机制,可以减少控制协议的更新次数,从而降低网络中的信息传输总量。针对智能体自身具有非线性动力学特性的领导-跟随多智能体系统,本文首先设计一个集中式事件触发一致性协议;然后,基于Lyapunov稳定性理论,给出该非线性系统部分分量一致性得以实现的充分条件,分析该事件触发协议的触发间隔存在一个最小的正下界;最后,数值模拟验证理论结果的正确性。

The application of event-triggered mechanism in the network system with complex structure and limited communication resources can reduce the number of updates of the control protocol,thus decreasing the total amount of information transmission in the network.In this paper,a centralized event-triggered agreement protocol is designed for a leader-following multi-agent systems with nonlinear dynamics.Then,based on Lyapunov stability theory,a sufficient condition for partial component consensus of the nonlinear system is derived.Meanwhile,it is analyzed that the triggered interval of event-triggered protocol has a minimum positive lower bound.Finally,numerical simulations verify the correctness of the theoretical results.