一般线性多智能体系统的自适应动态事件触发二分一致性  

Adaptive Dynamic Event-triggered Bipartite Consensus of General Linear Multi-agent Systems

作　　者：宋文杰 刘开恩 纪志坚[2] 崔秋燕 SONG Wenjie;LIU Kaien;JI Zhijian;CUI Qiuyan(School of Mathematics and Statistics,Qingdao University,Qingdao 266071,China;School of Automation,Qingdao University,Qingdao 266071,China)

机构地区：[1]青岛大学数学与统计学院,山东青岛266071 [2]青岛大学自动化学院,山东青岛266071

出　　处：《控制工程》2025年第4期745-752,共8页Control Engineering of China

基　　金：国家自然科学基金资助项目(62373205,62033007);山东省自然科学基金资助项目(ZR2021MF089);青岛大学系统+联合研究项目(XT2024101)。

摘　　要：针对一般线性多智能体系统,提出了一种分布式自适应动态事件触发二分一致性协议。首先,对每一个智能体,设计了相应的自适应控制输入和动态事件触发函数;然后,在具有结构平衡的拓扑网络下,给出了保证系统二分一致性成立的充分条件,证明了每个自适应耦合权值均收敛到某个有限的稳态值;最后,利用反证法证明了在所给条件下系统不存在芝诺行为。数值仿真结果显示,所有智能体在竞争与合作的情形下可以达到绝对值相同、符号相反的状态,验证了理论研究结果的正确性。A distributed adaptive dynamic event-triggered bipartite consensus protocol is proposed for general linear multi-agent systems.Firstly,for each agent,the corresponding adaptive control input and dynamic event-triggered function are designed.Then,under the topological network with balanced structure,sufficient conditions to guarantee bipartite consensus of the system are given and it is proved that each adaptive coupling weight converges to a finite steady-state value.Finally,it is proved by contradiction that there is no Zeno behavior in the system under the given conditions.The numerical simulation results show that all agents can reach a final state with identical magnitude but opposite sign through cooperative and competitive interactions,which verifies the correctness of the theoretical results.

关 键 词：二分一致性 多智能体系统 一般线性动态 自适应控制 动态事件触发控制 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]