延时和切换拓扑下多智能体系统动态事件触发一致性  

Dynamic Event-triggered Consensus of Multi-agent Systems with Time-delay and Switching Topologies

作　　者：陈侠[1] 周琦轩 CHEN Xia;ZHOU Qi-xuan(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》2022年第1期43-49,共7页Fire Control & Command Control

基　　金：国家自然科学基金资助项目(61074159,61973222)。

摘　　要：研究了具有延时和切换拓扑的一般线性多智能体系统动态事件触发一致性问题。在实际系统中,传统的触发方式并不能有效地节约网络资源,在事件触发机制的基础上,通过引入动态变量提出了动态事件触发机制。使所设计的事件触发条件可以根据系统的运行状态进行动态调整,从而减少控制更新的频率。在时延控制输入、切换拓扑及动态事件触发下,建立了闭环控制系统的数学模型。依据李雅普诺夫稳定性理论和线性矩阵不等式理论,使用Lyapunov函数证明了动态事件触发控制下多智能体系统的一致性。最后,通过仿真验证了该方法的有效性。Consensus problem of generally linear multi-agent systems is studied with time-delay and switching topologies under dynamic event-triggered mechanism.In real systems,the traditional triggering mechanism can’t save network resources effectively. Dynamic event-triggered mechanism is proposed by introducing an dynamic variable on the basis of event-triggered mechanism.The designed event-triggered condition can be dynamically adjusted according to the running state of the system. So that the frequency of control updates is reduced.The mathematical model of the closed-loop control system is established under the time delay control input,switching topologies and dynamic event-triggered.Based on Lyapunov stability theory and linear matrix inequation theory,a Lyapunov function is used to prove the consensus of the multi-agent system under the dynamic event-triggered control.Finally,the effectiveness of the method is verified by simulation experiments.

关 键 词：一致性 时变延时 切换拓扑 动态事件触发 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] TJ01[自动化与计算机技术—控制科学与工程]