事件触发脉冲控制的多智能体系统分群一致性  

Group Consensus of Multi-agent Systems by Event-triggered Impulsive Strategy

作　　者：柴洁 过榴晓[1] 陈良康 陈晶[1] CHAI Jie;GUO Liuxiao;CHEN Liangkang;CHEN Jing(School of Science,Jiangnan University,Wiixi 214122,China)

机构地区：[1]江南大学理学院,江苏无锡214122

出　　处：《信息与控制》2020年第5期513-520,共8页Information and Control

基　　金：国家自然科学基金资助项目(61973137,61772013);江苏省自然科学基金资助项目(BK20161126)

摘　　要：针对多智能体系统的群一致性问题,提出了基于事件触发脉冲控制协议.考虑到系统网络的分群结构,在模型中引入一个非零投影参数,该参数的不同特殊取值可以涵盖多智能体系统完全一致性和竞争与合作分群一致性等情形.协议为不同的群设计了相应的事件触发函数,每个群的智能体只有在相关状态误差超过阈值时,才会更新控制器,控制输入也仅在事件触发脉冲时刻执行,智能体之间不需要持续通信.利用代数图论、李亚普诺夫稳定性和脉冲微分方程理论方法,分析给出多智能体系统在事件触发脉冲协议下达到群一致性的充分条件,且理论证明不存在芝诺现象.最后,数值仿真验证了理论结果的有效性.To address the group consensus problem of multi-agent systems,an event-triggered impulsive control protocol is proposed. Considering the group structure of the system network,a non-zero projective parameter is set. The group consensus with different projective parameter includes the complete consensus of multi-agent systems and group consensus with both competition and cooperation interconnections. The protocol designs the corresponding event trigger functions for different groups. For each group,the controller is updated only when some state-dependent errors exceed a tolerable bound. The control inputs will be executed by the actor only at the event that triggers impulsive instants. Continuous communication of neighboring agents can be avoided.The sufficient conditions for the multi-agent system to achieve group consensus by event-triggered impulsive protocol are analyzed based on algebraic graph theory,Lyapunov stability,and impulsive differential equation theory. Zeno behavior can be excluded. Results are illustrated through several numerical simulation examples.

关 键 词：事件触发脉冲控制 群一致性 多智能体系统 投影参数 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]