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

doi:10.1007/s12204-024-2718-z

Abstract

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

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

CLC Number:

TP183

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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