自适应事件触发的马尔科夫跳变多智能体系统一致性  

Adaptive event-triggered consensus for Markovain jumping multi-agent systems

作　　者：熊卫华[1] 董瑞华 吴之昊 顾敏明[1] XIONG Wei-hua;DONG Rui-hua;WU Zhi-hao;GU Min-ming(Faculty of Mechanical Engineering and Automation,Zhejiang Sci-Tech University,Hangzhou 310018,China)

机构地区：[1]浙江理工大学机械与自动控制学院,杭州310018

出　　处：《控制与决策》2020年第11期2780-2786,共7页Control and Decision

基　　金：浙江省自然科学基金项目(LQ18F030011);国家自然科学基金项目(61803339,61503341)。

摘　　要：针对非线性马尔科夫跳变多智能体系统在有向固定拓扑下的领导跟随一致性问题,为减少智能体间不必要的通信传输,节约网络资源,保证系统性能,提出一种自适应事件触发控制策略.首先,将每一个智能体均视为马尔科夫跳变系统,且马尔科夫链的转移概率部分未知;通过简单的模型转换建立误差系统,将多智能体系统一致性问题转化为误差系统的稳定性问题;在此基础上,构造合适的Lyapunov-Krasovskii泛函并利用Jensen不等式和线性矩阵不等式等技术给出使多智能体系统达到领导跟随一致性的充分条件及控制器设计方法;通过求解线性矩阵不等式可以得到多智能体系统一致性控制器增益矩阵和事件触发参数矩阵;最后,通过数值仿真验证所提出方法的有效性.Aiming at the leader-following consensus problem of nonlinear Markovian jumping multi-agent systems under the directed fixed topology,in order to reduce unnecessary communication between agents,save network resources and ensure system performance,an adaptive event-triggered control strategy is proposed.Firstly,each agent is taken as a Markovian jumping system,and the transition probabilities of Markov chain is partially unknown.Then,the error system is established by simple model transformation,and the consensus problem of multi-agent systems is transformed into the stability problem of the error system.On this basis,the appropriate Lyapunov-Krasovskii functional is constructed,and the sufficient conditions and the controller design method are provided for multi-agent systems to achieve leader-following consensus by using the Jensen inequality and linear matrix inequality techniques.In addition,by solving the linear matrix inequalities,the multi-agent system consensus controller gain matrices and the event-triggered parameter matrices can be obtained.Finally,the effectiveness of the proposed method is verified by numerical simulation.

关 键 词：多智能体系统 自适应 事件触发 一致性 马尔科夫跳变 线性矩阵不等式 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]