多智能体系统动态事件触发预定时间比例一致性

Dynamic Event-triggered Predefined-time Scale Consensus of Multi-agent Systems

  • 摘要: 针对切换拓扑下含扰动的领航-跟随非线性多智能体系统,提出了基于动态事件触发机制的预定时间比例一致性控制协议,该一致性协议可有效减少系统能量损耗,降低控制器更新频率。通过在位置状态上设置比例参数,预定时间内可实现各个智能体之间的比例一致。利用代数图论、线性矩阵不等式及李雅普诺夫稳定性理论,证明了该协议的正确性且系统不存在Zeno行为。与固定时间控制协议相比,本协议的收敛时间上界与控制器参数无关,只与单一时间参数相关,设置简单,且预估收敛时间保守性较小。最后通过仿真实验验证了所提控制协议的有效性和可行性。

     

    Abstract: For the leader-follower nonlinear multi-agent systems with disturbances under switching topologies, we propose a predefined-time scale consensus protocol based on dynamic event-triggered mechanism which can efficiently reduce system energy consumption and controller update frequency. The proposed protocol achieves scale consensus between agents within a predefined time by introducing proportional parameters on the positional states. We prove the correctness of the protocol and that there is no Zeno behaviour by leveraging algebraic graph theory, matrix inequalities, and Lyapunov stability theory. Compared with the fixed-time control protocol, the convergence time upper bound of this protocol is independent of controller parameters and is only related to a single time parameter, which is simple to set up and the predicted convergence time is less conservative. Finally, the simulation experiments illustrate the effectiveness and feasibility of the proposed control protocol.

     

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