基于事件触发控制的二阶多智能体的一致性

摘要

This paper studied the second-order multi-agent systems consensus problem under directed network with fixed topol-ogy.In order to reduce the unnecessary waste of the network bandwidth resource,this paper proposed an event-triggered con-sensus algorithm.The algorithm constructed an event-triggered function with respect to the defined measurement error for all agents,made the information transmission between two neighbor agents and the controller updates driven by properly defined events.By using matrix theory and model transformation method,it inverted the analysis of the consensus problem of the system to the stability prove,and by employing Lyapunov theory,it gave some sufficient conditions for the asymptotic consensus of the second-order multi-agent systems.The numerical simulation validates the effectiveness of the theoretical results.%研究二阶多智能体系统在固定有向拓扑下的一致性问题。为减少不必要的网络带宽资源的浪费，给出一种基于事件触发控制的一致性算法。该算法基于状态误差对系统中的所有个体建立事件触发函数，使得个体之间的信息通信和控制信号更新仅在事件触发时刻进行；采用矩阵理论和模型变换思想对系统进行了分析和转换，并利用Lyapunov理论给出了系统达到渐近一致的充分条件。仿真结果验证了理论方案的有效性。