延时下基于事件触发的多智能体系统一致性  

Consistency for First-order Multi-agent Systems with Communication Delay Based on Event-triggered

作　　者：陈侠[1] 尹立远 CHEN Xia;YIN Li-yuan(Shenyang Aerospace University,Shenyang 110136,China)

机构地区：[1]沈阳航空航天大学,沈阳110136

出　　处：《火力与指挥控制》2020年第8期37-43,共7页Fire Control & Command Control

基　　金：国家自然科学基金(61074159);航空科学基金资助项目(2016ZC54011)。

摘　　要：研究了通信延时下基于事件触发的一阶多智能体系统一致性问题。针对有向固定拓扑,设计了通信延时下基于事件触发机制的控制器。利用李雅普诺夫稳定性理论提出了能够使系统稳定和一致的事件触发函数和时延上界,并利用该事件触发规则求取两次触发之间的最小间隔,证明了该系统不存在Zeno行为。事件触发机制的引入有效减少了控制器的更新次数和智能体之间的通信频率,节约了资源,最后通过仿真实例验证了该理论方法的可行性与有效性。The consistency problem is studied for first-order multi-agent systems based on event-triggered communication delay.For the directed and fixed topology,a controller is designed based on event-triggered mechanism with communication delay.The event-triggered function and the maximum limit of the delay are proposed based on Lyapunov stability theory,which can make the system stable and consistent.The event-triggered rule is used to obtain the minimum interval between two triggers,which proves that there is no Zeno behavior in the system.The introduction of the event-triggered mechanism greatly reduces the updating times of the controller and the communication frequency between the agents,resources are saved effectively.The feasibility and effectiveness of the theoretical method is verified by simulation experiments finally.

关 键 词：多智能体系统 网络延时 事件触发机制 一致性 Zeno行为 

分 类 号：TJ85[兵器科学与技术—武器系统与运用工程] TP13[自动化与计算机技术—控制理论与控制工程]