Event-Triggered Fixed-Time Consensus of Second-Order Nonlinear Multi-Agent Systems with Delay and Switching Topologies

doi:10.1007/s12204-024-2695-2

Abstract

Abstract: To address fixed-time consensus problems of a class of leader-follower second-order nonlinear multiagent systems with uncertain external disturbances, the event-triggered fixed-time consensus protocol is proposed. First, the virtual velocity is designed based on the backstepping control method to achieve the system consensus and the bound on convergence time only depending on the system parameters. Second, an event-triggered mechanism is presented to solve the problem of frequent communication between agents, and triggered condition based on state information is given for each follower. It is available to save communication resources, and the Zeno behaviors are excluded. Then, the delay and switching topologies of the system are also discussed. Next, the system stabilization is analyzed by Lyapunov stability theory. Finally, simulation results demonstrate the validity of the presented method.

Key words: event-triggered mechanism, fixed-time consensus, multi-agent systems, switching topologies

摘要： 针对一类具有不确定外部干扰的二阶非线性多智能体系统的固定时间一致性问题，提出了基于事件触发的固定时间一致性协议。首先，基于反步控制的方法设计了虚拟速度，实现了系统的一致性，且收敛时间的上界仅取决于系统参数。其次，提出了一种事件触发机制去解决智能体之间频繁通信的问题，对于每个跟随者给出了基于其状态信息的事件触发条件，该机制对于节省系统通信资源和排除芝诺问题有明显效果。然后，讨论了系统在时延和切换拓扑下的固定时间收敛问题。最后，利用李雅普诺夫稳定性理论对系统的稳定性进行了分析。仿真结果验证了该方法的有效性。

关键词: 事件触发机制，固定时间一致性，多智能体系统，切换拓扑

CLC Number:

TP273

XING Youjing¹ (邢优靖), GAO Jinfeng^1∗ (高金凤), LIU Xiaoping^{1, 2} (刘小平), WU Ping¹ (吴平). Event-Triggered Fixed-Time Consensus of Second-Order Nonlinear Multi-Agent Systems with Delay and Switching Topologies[J]. J Shanghai Jiaotong Univ Sci, 2024, 29(4): 625-639.

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