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摘要: 研究了基于事件触发控制的三阶离散多智能体系统的一致性问题.首先，基于位置、速度和加速度三者的测量误差，设计了一个新颖的事件触发控制机制.然后，利用不等式技巧，得到了使离散多智能体系统达到一致的充分条件.所得到的条件揭示了系统的通信拓扑的Laplacian矩阵特征值和耦合强度对于系统一致性的影响.此外，还给出了事件触发控制器排除类Zeno行为的确定条件，这意味着事件触发控制器不会每个迭代时刻都更新.最后，通过仿真实验验证了所获得理论结果的正确性和可用性Abstract: This paper concerns with the event-triggered consensus problem for third-order discrete-time multi-agent systems. First, a novel event-based control scheme for third-order discrete-time multi-agent systems is designed. The event trigger function for each agent is based on the measurement error of position, speed and acceleration. Then, by utilizing the inequality technique, some sufficient conditions are obtained to make the agent achieve consensus. Our conditions reveal how the Laplacian matrix eigenvalues and coupling strengths affect the consensus of discrete-time multi-agent systems with event-trigger control strategy. Moreover, the Zeno-like behavior is avoided under certain conditions, which means the controller cannot update at each time instant. Finally, the correctness and availability of the proposed method are validated via some simulation experiments.
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Key words:
- Multi-agent systems /
- discrete-time /
- event-triggered consensus /
- zeno-like behavior
1) 本文责任编委 陈龙 -
图 2 三阶离散多智能体系统的位置轨迹图
Fig. 2 The trajectories of position in third-order discrete-time multi-agent systems
图 3 三阶离散多智能体系统的速度轨迹图
Fig. 3 The trajectories of speed in third-order discrete-time multi-agent systems
图 4 三阶离散多智能体系统的加速度轨迹图
Fig. 4 The trajectories of acceleration in third-order discrete-time multi-agent systems
图 5 三阶离散多智能体系统的控制轨迹图
Fig. 5 The trajectories of control in third-order discrete-time multi-agent systems
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