动态事件触发下多智能体系统固定时间一致性

Fixed-time consensus of dynamic event-triggered multi-agent systems

针对具有未知干扰和非线性动态的多智能体系统,研究了它基于事件触发的固定时间一致性问题。在传统的静态事件触发策略的基础上,通过引入一个可调节的动态变量,提出一种基于动态事件触发策略的固定时间一致性协议,给出各个智能体基于状态信息和动态变量的动态事件触发函数,只有当各智能体的测量误差满足给定的触发函数时,事件才会被触发。引入的动态变量是可调节的阈值参数,能够进一步减少事件的触发次数,更有效地利用系统有限的资源。利用图论、固定时间一致性理论和李雅普诺夫稳定性理论推导出系统达到固定时间一致性时,一致性协议和触发函数中的参数需要满足的条件,同时证明了系统不存在芝诺行为。最后,数值仿真结果验证了理论分析的正确性与有效性。

The problem of event-triggered fixed-time consistency based on event triggering was studied for multi-agent systems with unknown disturbances and nonlinear dynamics.Based on the traditional static event-triggered strategy,a fixedtime consensus protocol based on dynamic event-triggered strategy was proposed by introducing an adjustable dynamic variable.A dynamic event-triggered function based on state information and dynamic variables was given for each agent,and the event was triggered only when the measurement error of each agent satisfied the given triggering function.The introduced dynamic variables were adjustable threshold parameters that could further reduce the number of event triggers and use the limited resources of the system more efficiently.By using graph theory,fixed-time consensus theory and Lyapunov stability theory,the conditions that the parameters in the consensus protocol and trigger functions needed to satisfy when the system reaching fixed-time consensus were obtained,meanwhile Zeno behavior was shown not to exist.Finally,the numerical simulation results were applied to verify the correctness and validity of the theoretical analysis.