基于全分布式事件驱动控制的多智能体系统领导-跟随一致性研究

doi:10.1007/s12204-024-2718-z

J Shanghai Jiaotong Univ Sci ›› 2024, Vol. 29 ›› Issue (4): 640-645.doi: 10.1007/s12204-024-2718-z

• • 上一篇

基于全分布式事件驱动控制的多智能体系统领导-跟随一致性研究

耿宗盛1，赵东东1, 2，周兴文1，闫磊1，阎石1, 2

（1.兰州大学信息科学与工程学院，兰州730000；2. 兰州大学开源软件与实时系统教育部工程研究中心，兰州730000）

接受日期:2023-08-27 出版日期:2024-07-28 发布日期:2024-07-28

Leader-Following Consensus of Multi-Agent Systems via Fully Distributed Event-Based Control

GENG Zongsheng¹ (耿宗盛), ZHAO Dongdong^1,2 (赵东东), ZHOU Xingwen¹ (周兴文), YAN Lei¹ (闫磊), YAN Shi^1,2∗ (阎石)

(1. School of Information Science and Engineering, Lanzhou University, Lanzhou 730000, China; 2. Engineering Research Center of Open-Source Software and Real-Time Systems of Ministry of Education, Lanzhou University, Lanzhou 730000, China)

Accepted:2023-08-27 Online:2024-07-28 Published:2024-07-28

摘要/Abstract

摘要： 致力于研究以无向图表征的线性多智能体系统的领导-跟随一致性。具体而言，构造了一个自适应事件触发协议，此协议仅使用局部相对信息，故能以全分布式方式应用。同时，此协议也是资源友好型的，因为仅当智能体违背了设计的事件触发函数后，协议方能再次更新。针对此项研究，还提出了一个基于李雅普诺夫方法的领导-跟随一致性充分条件，同时证明了设计的协议不会产生芝诺现象。最后，提供了两个数值例子来说明本文方法的有效性。

关键词: 一致性，多智能体系统，事件驱动控制，自适应控制，全分布式协议

Abstract: This paper aims to study the leader-following consensus of linear multi-agent systems on undirected graphs. Specifically, we construct an adaptive event-based protocol that can be implemented in a fully distributed way by using only local relative information. This protocol is also resource-friendly as it will be updated only when the agent violates the designed event-triggering function. A sufficient condition is proposed for the leaderfollowing consensus of linear multi-agent systems based on the Lyapunov approach, and the Zeno-behavior is excluded. Finally, two numerical examples are provided to illustrate the effectiveness of the theoretical results.

Key words: consensus, multi-agent systems, event-based control, adaptive control, fully distributed protocol

中图分类号:

TP183

耿宗盛1，赵东东1, 2，周兴文1，闫磊1，阎石1, 2. 基于全分布式事件驱动控制的多智能体系统领导-跟随一致性研究[J]. J Shanghai Jiaotong Univ Sci, 2024, 29(4): 640-645.

GENG Zongsheng¹ (耿宗盛), ZHAO Dongdong^1,2 (赵东东), ZHOU Xingwen¹ (周兴文), YAN Lei¹ (闫磊), YAN Shi^1,2∗ (阎石). Leader-Following Consensus of Multi-Agent Systems via Fully Distributed Event-Based Control[J]. J Shanghai Jiaotong Univ Sci, 2024, 29(4): 640-645.

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基于全分布式事件驱动控制的多智能体系统领导-跟随一致性研究

Leader-Following Consensus of Multi-Agent Systems via Fully Distributed Event-Based Control

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