切换拓扑下多智能体的动态事件触发固定时间一致性控制  

Dynamic event-triggered fixed-time consensus control of multi-agent systems under switching topologies

作　　者：王加朋 杨家宁 罗家祥[3] 钱伟[1,2] 杨金显 WANG Jia-peng;YANG Jia-ning;LUO Jia-xiang;QIAN Wei;YANG Jin-xian(School of Electrical Engineering and Automation,Henan Polytechnic University,Jiaozuo Henan 454003,China;Henan International Joint Laboratory of Direct Drive and ontrol of Intelligent Equipment,Jiaozuo Henan 454003,China;School of Automation Science and Engineering,South China University of Technology,Guangzhou Guangdong 510640,China)

机构地区：[1]河南理工大学电气工程与自动化学院,河南焦作454003 [2]河南省智能装备直驱技术与控制国际联合实验室,河南焦作454003 [3]华南理工大学自动化科学与工程学院,广东广州510640

出　　处：《控制理论与应用》2025年第1期87-95,共9页Control Theory & Applications

基　　金：国家自然科学基金项目(61973105);河南省高校基本科研业务费专项资金(NSFRF240333);河南省高等学校重点科研项目(20A413006);河南理工大学博士基金项目(760807/006);河南省自然科学基金项目(232300421152)资助.

摘　　要：对切换拓扑下含扰动的非线性多智能体系统,本文提出了一种新的动态事件触发实际固定时间平均一致性控制方法,该方法触发次数更少,收敛速度更快.通过设计辅助动态变量及其动态方程,基于动态变量的幂次项建立了新的动态触发机制,该机制减少了触发次数.采用共同李雅普诺夫函数证明了所提方法可以保证多智能体系统在任意切换拓扑下实现实际固定时间平均一致性,收敛时间上界可通过调节控制参数设定且不依赖于初始状态.通过设计含双曲正切函数的测量误差,证明所提方法不存在Zeno行为.最后,通过实验仿真验证了算法的有效性.A new dynamic event-triggered practical fixed-time average consensus control method is proposed for the nonlinear multi-agent systems with disturbances under switching topologies,and the proposed method converges faster with fewer trigger times.By designing auxiliary dynamic variables and corresponding dynamic equations,a new dynamic event-triggered mechanism is established based on the power terms of dynamic variables,which can reduce event trigger times.Using the designed common Lyapunov function,it is proved that the proposed method is able to guarantee that the multi-agent system can achieve practical fixed-time average consensus under switching topologies,and the upper bound of the convergence time can be set by adjusting the control parameters and is independent of the initial state of the system.By designing the measurement error involving the hyperbolic tangent function,it is proved that there is no Zeno behavior under the proposed method.Finally,some simulation results are provided to illustrate the effectiveness of the proposed control method.

关 键 词：动态事件触发控制 固定时间一致性 非线性多智能体系统 切换拓扑 

分 类 号：TP3[自动化与计算机技术—计算机科学与技术]