积分事件触发策略下的线性多智能体系统领导跟随一致性  

Leader-following consensus for linear multi-agent systems based on integral-type event-triggered strategy

作　　者：周托 刘全利[1,2] 王东 王伟[1,2] ZHOU Tuo;LIU Quan-li;WANG Dong;WANG Wei(School of Control Science and Engineering,Dalian University of Technology,Dalian 116024,China;Key Laboratory of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education,Dalian University of Technology,Dalian 116024,China)

机构地区：[1]大连理工大学控制科学与工程学院,辽宁大连116024 [2]大连理工大学工业装备智能控制与优化教育部重点实验室,辽宁大连116024

出　　处：《控制与决策》2022年第5期1258-1266,共9页Control and Decision

基　　金：国家自然科学基金项目(61773085)。

摘　　要：研究有向切换拓扑下线性多智能体系统的事件触发一致跟踪问题.大多数已有的工作研究了固定拓扑下的事件触发控制,然而,当智能体间联系随时间发生改变或通信拓扑随时间发生变化时,该控制策略失效.鉴于此,在考虑切换拓扑的基础上提出一种基于积分型事件触发的控制策略.首先,当拓扑图包含一棵生成树且领导者是根节点时,利用Lyapunov稳定性理论、代数图论和矩阵变换,基于积分型事件触发控制协议,在切换拓扑下多智能体系统达到领导跟随一致性;然后,当存在多个领导者时,基于设计的触发机制在切换拓扑下多智能体系统实现包含控制,上述两种情况下闭环系统均不存在Zeno现象;最后,通过仿真结果验证控制策略的有效性.Distributed event-triggered consensus tracking is researched for multi-agent systems with general linear dynamics under directed switching topologies.Most existing works focus on event-triggered control with a fixed communication topology,which however can not meet the demand that the relations among agents may vary or the communication topology may change over time.In light of this,an integral-based event-triggered control strategy is developed in the consideration of switching topologies.Firstly,when the communication topology contains a directed spanning tree with the leader being the root,we solve the integral-type event-triggered leader-following consensus under switching topologies by using the Lyapunov stability theory,algebraic graph theory and matrix transformation.Then,the integral-type event-triggered containment control of multi-agent systems is investigated under switching topologies when there exist multiple leaders.Moreover,the Zeno-behavior of the closed-loop systems is excluded by developing a positive constant lower bound under the proposed control rules in both above-mentioned cases.Finally,simulations are presented to verify the validity of the proposed control strategy.

关 键 词：多智能体系统 固定拓扑 切换拓扑 积分型事件触发控制 领导跟随一致性 包含控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]