论文部分内容阅读
研究二阶多智能体系统在固定有向拓扑下的领导跟随一致性问题.为了节省网络和计算资源,给出一种基于事件触发控制的一致性算法.针对每个跟随者智能体,设计基于状态误差形式的触发函数,只有当状态误差满足一定条件,即触发函数取值为零时智能体才触发事件,同时更新并传递自身的采样信息,在两个相邻事件触发时刻之间,控制输入只受领导者控制信号的影响.利用模型变换、矩阵理论和Lyapunov稳定性理论给出多智能体系统达到领导跟随一致性的充分条件.仿真结果验证了理论方案的可行性和有效性.
In order to save the network and computing resources, a consistency algorithm based on event-triggered control is proposed.For each follower agent, the design is based on the consistency of the leader in the fixed-directed topology Only when the state error satisfies a certain condition, that is, when the triggering function takes a value of zero, the intelligent body triggers the event, and updates and delivers its own sampling information at the same time, and when the state error satisfies the certain condition, the state error of the triggering function is controlled between two adjacent event triggers The input is only affected by the control signal of the leader. The sufficient conditions for the leader-following consistency of multi-agent systems are given by using the theory of model transformation, matrix theory and Lyapunov stability. The simulation results verify the feasibility and effectiveness of the theoretical scheme.