事件触发脉冲控制下二阶多智能体系统的领导跟随一致性  

Leader-following consensus of second-order multi-agent systems via event-triggered impulsive control

作　　者：金琬丽 于志永[1] 蒋海军[1] JIN Wan-li;YU Zhi-yong;JIANG Hai-jun(School of Mathematics and System Science,Xinjiang University,Urumqi 830017,China)

机构地区：[1]新疆大学数学与系统科学学院,新疆乌鲁木齐830017

出　　处：《兰州理工大学学报》2022年第5期153-160,共8页Journal of Lanzhou University of Technology

基　　金：国家自然科学基金(62003289,62163035)。

摘　　要：针对二阶多智能体系统,研究事件触发脉冲控制下的领导跟随一致性问题.不同于事件触发采样控制策略,设计的控制协议要求每个智能体只有在状态误差超过规定的上界时刻才会施加控制,即事件触发脉冲控制.通过构造合适的事件触发函数,借助于Lyapunov稳定性理论,代数图理论、不等式技术给出二阶多智能体系统的一致性判据,并排除多智能体系统的Zeno行为.通过数值算例验证所提出的控制方案的有效性.For the second-order multi-agent systems,the leader-following consensus under the event-triggered impulsive control is solved.First,being different from the event-triggered sample-data control strategy,the designed control protocol requires each agent to implement control only when the state error exceeds the specified upper bound,that is,event-triggered impulsive control.Second,by constructing an appropriate event-triggered function,the consensus criterion for second-order multi-agent systems is given by using Lyapunov stability theory,algebraic graph theory,and inequality technology,and the Zeno behavior of multi-agent systems is excluded.Finally,a numerical simulation is illustrated to prove the effectiveness of the proposed control scheme.

关 键 词：多智能体系统 事件触发脉冲控制 一致性 

分 类 号：O231.1[理学—运筹学与控制论]