基于事件触发的二阶随机时延系统的有限时间一致  

Finite-time Consensus Control for Second-order Multi-agent Systems with Distributed Event-triggered Scheme

作　　者：崔艳[1] 王晓珊 CUI Yan;WANG Xiao-shan(School of Physics and Information Engineering,Shanxi Normal University,Linfen 041000,Shanxi,China)

机构地区：[1]山西师范大学物理与信息工程学院,山西临汾041000

出　　处：《山西师范大学学报（自然科学版）》2020年第3期27-35,共9页Journal of Shanxi Normal University(Natural Science Edition)

基　　金：国家自然科学基金(61503231).

摘　　要：文章研究的是二阶随机时延多智能体系统的有限时间一致性控制.针对在达到有限时间一致性的过程中控制器更新频率过高的问题,设计了一种事件触发控制策略,每个智能体根据状态信息设计了自己的触发条件,当条件违反时才触发事件,使系统能耗和控制器的更新频率均能有效减少,同时利用李雅普诺夫理论和齐次性理论证明跟随者的位置和速度状态能跟踪到领导者并实现有限时间一致.另外,得到了任意两个连续触发时刻间隔的具体值,从而排除芝诺现象.最后,仿真结果验证了理论的有效性.In this paper,the finite-time distributed event-triggered consensus control is considered for second-order random time-delay multi-agent systems.The proposed event-triggered control strategyrely only on the information between the agent and its neighbor states,and designs different trigger conditions according to the state information of each agent.In general,the nonlinear event-triggered control protocol is proposed to solve the second-order finite-time consensus problem with the help of Lyapunov function and homogeneous theory.In addition,zeno phenomenon is eliminated by proving that there is a positive lower bound between the two event-triggered moments of the agent.Finally,the effectiveness of the theoretical results is verified by numerical simulation.

关 键 词：有限时间一致 事件触发控制 二阶随机时延多智能体系统 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]