Event-triggered State Consensus of Heterogeneous Uncertain Second-order Nonlinear Multi-agent Systems
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摘要: 研究异构不确定二阶非线性多智能体系统的事件触发状态趋同控制问题. 首先, 为每个智能体设计参数观测器用以估计不确定参数, 这些观测器可渐近估计不确定参数. 其次, 为每个跟随智能体设计分布式参数观测器渐近估计领导智能体不确定参数, 每个智能体利用邻居智能体触发时刻的采样值估计其邻居智能体的状态. 基于估计的参数和邻居状态, 提出完全不依赖智能体间连续信息传输的事件触发趋同算法. 同时, 证明在所给算法的作用下多智能体系统能够达到状态趋同且不存在芝诺现象. 最后, 给出一个多单摆系统用以验证事件触发趋同算法, 仿真结果表明跟随智能体的位置和速度可以渐近跟踪领导智能体的位置和速度, 并且整个多智能体系统平均每秒触发8.825次, 对比仿真显示, 基于参数和状态观测器的事件触发状态趋同算法可以有效减少事件触发次数.
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关键词:
- 多智能体系统 /
- 事件触发 /
- 不确定二阶非线性系统 /
- 状态趋同 /
- 异构系统
Abstract: This paper studies event-triggered state consensus of heterogeneous uncertain second-order nonlinear multi-agent systems. Firstly, to deal with the uncertain parameter of each agent dynamics, parameter observers are proposed to estimate uncertain parameters, these observers can estimate exact values of uncertain parameters. Secondly, to estimate exact value of uncertain parameter of leader dynamics, a distributed parameter observer is designed for each follower agent, and each agent use its neighbors' sampled information at triggering instants to estimate neighbors' states. Based on estimated parameters and neighbor states, an event-triggered consensus algorithm is given, which does not rely on any continuous information transmission among agents. Furthermore, it is proved that multi-agent systems can reach state consensus under given algorithm, and there is no Zeno-behavior occurs. Finally, a multi-pendulum system is proposed to verify event-triggered consensus algorithm, simulation shows that the position and velocity of follower agents can track that of leader agent asymptotically, and average trigger instants of overall multi-agent systems is 8.825 per second, comparison simulation shows that our event-triggered state consensus algorithm can effectively reduce trigger number. -
图 2 $||\tilde{\theta}_0^i||$和$\tilde{\theta}_i$的轨迹
Fig. 2 Trajectories of $||\tilde{\theta}_0^i||$ and $\tilde{\theta}_i$
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