时滞和干扰下多智能体系统动态事件触发固定时间一致性  

Dynamic event-triggered fixed-time consensus for multi-agent systems with input delay and unknown disturbances

作　　者：宁小刚 李宗刚[1,2] 陈引娟[1,2] 杜亚江[1,2] NING Xiao-gang;LI Zong-gang;CHEN Yin-juan;DU Ya-jiang(School of Mechanical Engineering,Lanzhou Jiaotong University,Lanzhou Gansu 730070,China;Robotics Institute of Lanzhou Jiaotong University,Lanzhou Gansu 730070,China)

机构地区：[1]兰州交通大学机电工程学院,甘肃兰州730070 [2]兰州交通大学机器人研究所,甘肃兰州730070

出　　处：《控制理论与应用》2025年第2期323-334,共12页Control Theory & Applications

基　　金：国家自然科学基金项目(61663020);甘肃省高等学校产业支撑计划项目(2022CYZC-33);大连理工大学工业装备结构分析国家重点实验室开放课题项目(ZG22119);兰州交通大学“百名青年优秀人才培养计划”基金项目资助.

摘　　要：针对具有输入时滞、未知干扰和切换拓扑的一阶多智能体系统,本文设计了基于个体的分布式控制器.在两种不同动态事件触发控制协议下,分别给出了系统可解实际固定时间平均一致性问题的充分性条件,且系统均不存在Zeno行为.其中,所提连续通信动态事件触发控制协议通过引入内部动态变量,使得触发条件能够实时变化,显著减少了个体触发的次数,降低了控制器更新频次和系统整体能耗,所提间歇通信动态事件触发控制协议仅需利用触发时刻的邻居信息,以及对内部动态变量的估计值,避免了个体间的连续通信,有效减少了系统的通信负担,节省了通信资源.数值仿真结果验证了所提控制协议的有效性.An individual-based distributed controller is designed for first-order multi-agent systems with input delay,unknown disturbances and switching topology.Under two different dynamic event-triggered control protocols,the sufficient conditions for the system to solve the practical fixed-time average consensus problem are given respectively,and it is proved that there is no Zeno behavior in the system.Among them,the dynamic event-triggered control protocol with continuous communication can make triggering condition change in real time by introducing internal dynamic variable,which significantly reduces the number of individual triggering,the frequency of controller updates and the overall energy consumption of the system,the dynamic event-triggered control protocol with intermittent communication only needs to use the neighbor information at the triggering instant and the estimated value of the internal dynamic variable,which avoids the continuous communication between individuals,effectively reduces the communication burden of the system and saves the communication resources.Numerical simulation results verify the effectiveness of the proposed control protocols.

关 键 词：多智能体系统 动态事件触发控制 固定时间一致性 切换拓扑 输入时滞 未知干扰 

分 类 号：TP3[自动化与计算机技术—计算机科学与技术]