Event-Triggered Consensus for Discrete-Time Multi-agent Systems with Parameter Uncertainties Based on a Predictive Control Scheme  

作　　者：LIU Xiaoyu XUAN Yongbo ZHANG Zhongyu DIAO Zhaoshi MU Zhenxing LI Zhitao 

机构地区：[1]China North Industries Group Corporation Limited China Ordnance Industry Navigation and Control Technology Institute,Beijing 100821,China [2]Beijing Aeronuatical Technology Research Center,Beijing 100076,China

出　　处：《Journal of Systems Science & Complexity》2020年第3期706-724,共19页系统科学与复杂性学报（英文版）

摘　　要：In this paper,the event-triggered consensus for linear discrete-time multi-agent systems with parameter uncertainties is investigated.The parameter uncertainty is assumed to be normbounded.An event-triggered consensus protocol based on the predictive control method is proposed to make the multi-agent system achieve consensus.And for the design of the consensus protocol,the problem of estimating the control input is transformed into the problem of estimating state differences between agents.Furthermore,the event-triggered consensus protocol proposed in this paper only demands each agent to mornitor its state to determine its event-triggered instants.A sufficient existence condition for the consensus protocol is proposed based on the linear matrix inequality.And a sufficient condition for the nonexistence of the Zeno-like behaviour is also derived.Finally,a numerical example is given to illustrate that the event-triggered consensus protocol proposed in this paper can make the multi-agent system with parameter uncertainties achieve consensus effectively.

关 键 词：CONSENSUS event-triggered strategy multi-agent systems predictive scheme 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]