切换拓扑下二阶多智能体混合事件触发固定时间一致性  

Hybrid event-triggered fixed-time consensus for second-order multiagent systems under switching topologies

作　　者：王加朋 杨家宁 罗家祥[3] WANG Jia-peng;YANG Jia-ning;LUO Jia-xiang(School of Electrical Engineering and Automation,Henan Polytechnic University,Jiaozuo 454003,China;Henan International Joint Laboratory of Direct Drive and Control of Intelligent Equipment,Jiaozuo 454003,China;College of Automation Science and Technology,South China University of Technology,Guangzhou 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,广州510640

出　　处：《控制与决策》2025年第3期775-784,共10页Control and Decision

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项目(NSFRF240333).

摘　　要：对于任意切换拓扑下含未知干扰的二阶多智能体系统,基于反步法提出一种新的混合事件触发固定时间一致性控制方法.首先,提出一种结合动态事件触发条件和静态事件触发条件的新型混合事件触发机制,该机制在系统瞬态响应阶段,基于辅助变量的幂次项设计新的动态事件触发条件,可以根据智能体的测量误差和速度误差的变化自适应地动态调整触发阈值,从而自组织地减少事件触发次数;在系统稳态响应阶段,采用静态事件触发条件,基于适当固定阈值能够减少该阶段不必要的触发次数,有效克服动态变量稳定后触发阈值太小的问题.其次,根据多共同Lyapunov函数分两阶段证明所提出方法和给出的一致性充分条件能够保证二阶多智能体系统在任意切换拓扑下实现实际固定时间一致性.然后,通过设计含双曲正切函数的测量误差的可导性验证系统排除Zeno行为.最后的数字仿真结果验证了所提出控制方法的有效性和优越性.A novel hybrid event-triggered fixed-time consensus control method based on backstepping is proposed for second-order multi-agent systems with unknown disturbances under arbitrary switching topologies.Firstly,a new hybrid event-triggered mechanism that combines dynamic and static event-triggered conditions is presented.During the transient response phase of the system,a novel dynamic event-triggered condition is designed based on auxiliary variables'power terms,which can adaptively adjust the triggering threshold according to the evolution of the agents'measurement errors and velocity errors,thereby autonomously reducing the number of event triggers.During the steady-state response phase,a static event-triggered condition is employed with appropriate fixed thresholds to reduce unnecessary triggers in this phase,effectively overcoming the problem of triggering thresholds being too small after dynamic variables stabilize.Then,using multiple common Lyapunov functions,it has been proven through two stages that the proposed control method,along with sufficient consensus conditions,can achieve practical fixed-time consensus for second-order multi-agent systems under arbitrary switching topologies.Subsequently,it has been proven that Zeno behavior is excluded in the system by utilizing the differentiability of designed measurement errors that incorporate hyperbolic tangent functions.Finally,numerical simulation results validate the effectiveness and superiority of the proposed consensus control method.

关 键 词：二阶多智能体 固定时间 混合事件触发 切换拓扑 反步法 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]