基于重置控制的一般线性多智能体系统无领导者一致性问题  

Leaderless consensus of general linear multi-agent systems based on reset control

作　　者：江雨龙 胡文峰[1] 彭涛[1] 阳春华[1] JIANG Yulong;HU Wenfeng;PENG Tao;YANG Chunhua(School of Automation,Central South University,Changsha 410083,China)

机构地区：[1]中南大学自动化学院,湖南长沙410083

出　　处：《厦门大学学报（自然科学版）》2022年第6期954-960,共7页Journal of Xiamen University：Natural Science

基　　金：国家自然科学基金(61803392)。

摘　　要：研究了无向通信拓扑下一般线性多智能体系统的无领导者一致性问题,提出了一种带有时变增益矩阵的重置一致性协议.该重置控制协议设计当误差进入预设重置环时触发,而不是传统误差过零点的触发方式.本质上,重置协议提供了一类额外且有效的动态增益,这意味它可以改善系统的暂态性能,比如更快的收敛速度和较小的控制代价.利用Lyapunov稳定性理论,证明了多智能体系统可实现渐近一致.最后通过仿真对比,验证了所提算法的有效性.In this paper,we study the leaderless consensus problem of general linear multi-agent systems over undirected communication graphs and propose a reset consensus protocol with a time-varying gain matrix.Under the reset control protocol,the reset action is triggered when the error enters a prescribed reset band around zero,and this treatment differs from the traditional trigger method of zero-crossing conditions.In essence,the reset protocol provides a class of additional and effective dynamic gain,thus improving the transient performance,such as faster convergence speed and less control effort.Based on Lyapunov stability theory,we prove that the closed-loop system attains the asymptotic convergence.Finally,simulation comparison is conducted to illustrate the effectiveness of our theoretical results.

关 键 词：重置控制 无领导者一致性 一般线性多智能体系统 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]