基于事件触发的多智能体固定时间滑模一致性控制  

Fixed-time sliding mode consensus control of multi-agent systems under event-triggering mechanism

作　　者：时维国[1] 宁文静 宋存利[2] SHI Weiguo;NING Wenjing;SONG Cunli(College of Automation and Electrical Engineering,Dalian Jiaotong University,Dalian 116028,China;College of Software,Dalian Jiaotong University,Dalian 116052,China)

机构地区：[1]大连交通大学自动化与电气工程学院,大连116028 [2]大连交通大学软件学院,大连116052

出　　处：《中国惯性技术学报》2024年第10期1043-1051,1060,共10页Journal of Chinese Inertial Technology

基　　金：辽宁省教育厅科学研究项目(LJKMZ20220828,LJKZ0489);四川省重点实验室开放基金项目(2020RYJ04)。

摘　　要：针对具有未知扰动的非线性领导跟随多智能体系统一致性问题,提出一种基于自适应事件触发机制的分布式积分滑模固定时间一致性控制方法。考虑到未知外部扰动会使系统出现抖振,设计基于连续积分滑模面的分布式控制协议;为降低系统中各智能体的事件触发次数及能源损耗,保证向邻居智能体更新并传递采样信息,设计基于状态误差的自适应事件触发机制;采用固定时间稳定性理论证明设计的控制协议和事件触发机制可确保系统能迅速稳定;与有限时间相比,固定时间理论可使系统的稳定时间摆脱初值限制。仿真结果表明,相同条件下所提方法分别和引入连续积分滑模面的静态事件触发控制方法以及引入不连续积分滑模面的自适应事件触发控制方法相比可将触发次数分别平均降低32.01%和20.24%,在系统存在未知扰动的情况下5.2 s内即可达到状态一致,减少收敛时间的同时保证各跟随者的跟踪误差始终保持在±0.05以内。Aiming at the problem of fixed-time consistency of nonlinear multi-agent systems containing unknown external perturbations,a distributed integral sliding mode fixed-time consensus control method based on adaptive event-triggering control(ETC)is proposed.Considering that unknown external disturbance cannot be accurately obtained,a distributed control protocol based on integral sliding mode surface is designed.In order to reduce the event triggering times and energy consumption of each agent in the system and ensure that each agent updates and transmits the sampling information to the neighbor agents,an adaptive event triggering mechanism based on state error is designed.The control protocol and event triggering mechanism designed with fixed time proof-of-principle can ensure the rapid stability of the system.Compared with the finite time throry,the fixed time theory can get rid of the initial value limit of the system's stable time.The simulation results show that under the same conditions,the proposed method can significantly reduce the trigger times by 32.01%and 20.24%on averge compared with the static event-triggered control method introducing the continuous integral sliding mode surface and the adaptive event-triggered control method introducing the discontinuous integral sliding mode surface and the state consistency can be achieved within 5.2 seconds even if there are unknown perturbations in the system,which reduces the convergence time and ensures that the tracking error of each follower is always kept within±0.05 at the same time.

关 键 词：多智能体系统 固定时间 滑模控制 一致性 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]