Observer-Based Intra-Cluster Lag Consensus of Multi-Agent Systems via Intermittent Adaptive Pinning Control  

作　　者：ZHANG Yunlong WEN Guoguang RAHMANI Ahmed PENG Zhaoxia WEN Shiping 

机构地区：[1]CRIStAL,UMR CNRS 9189,Centrale Lille,Villeneuve d'Ascq 59651,France [2]Department of Mathematics,Beijing Jiaotong University,Beijing 100044,China [3]School of Transportation Science and Engineering,Beihang University,Beijing 100191,China [4]Centre for Artificial Intelligence(CAI),University of Technology Sydney,Australia

出　　处：《Journal of Systems Science & Complexity》2023年第5期1809-1829,共21页系统科学与复杂性学报（英文版）

基　　金：supported in part by the National Natural Science Foundation of China under Grant Nos.61977004 and 61503016;in part by the Fundamental Research Funds for the Central Universities under Grant Nos.YWF20-BJ-J-634 and YWF-19-BJ-J-259。

摘　　要：The intra-cluster lag consensus means that the agents in the same cluster can achieve lag consensus asymptotically while the agents in different clusters can achieve different consensus.In this paper,the authors investigate the observer-based intra-cluster lag consensus problems of multi-agent systems(MASs)with general linear dynamics and nonlinear dynamics via intermittent adaptive pinning control.The interaction network is considered to be weakly connected,i.e.,it is not necessary to be strongly connected,in-degree balanced or contain a directed spanning tree.To realise the intra-cluster lag consensus,a class of observers is designed to estimate the states of followers.Then a class of observer-based intermittent adaptive pinning control protocols is proposed according to the difference that the agents receive information source.Moreover,the pinning gains are designed to be intermittent adaptive and have an exponential convergence rate,which will effectively reduce communication costs,avoid the pinning gains being larger than those needed in real applications and guarantee the pinning gains quickly converge to steady value.Correspondingly,some sufficient consensus criteria are derived and rigorous proofs are given based on matrix theory and Lyapunov stability theory.Finally,the effectiveness for the proposed intermittent adaptive pinning control strategy is validated by a numerical simulation.

关 键 词：Lag consensus multi-agent systems intermittent adaptive pinning control state observer 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]