共查询到10条相似文献，搜索用时 62 毫秒
1.
This paper considers the distributed event‐triggered consensus problem for multi‐agent systems with general linear dynamics under a directed graph. We propose a novel distributed event‐triggered consensus controller with state‐dependent threshold for each agent to achieve consensus. In this strategy, continuous communication in both controller update and triggering condition monitoring is not required, which means the proposed strategy is fully continuous communication free. Each agent only needs to monitor its own state continuously to determine if the event is triggered. Additionally, the approach shown here provides consensus with guaranteed positive inter‐event time intervals. Therefore, there is no Zeno behavior under the proposed consensus control algorithm. Finally, numerical simulations are given to illustrate the theoretical results. 相似文献
2.
Output Consensus of Heterogeneous Linear Multi‐agent Systems Subject to Different Disturbances 
下载免费PDF全文
下载免费PDF全文 This paper investigates the output consensus problem of heterogeneous linear multi‐agent systems with individual agents subject to different disturbances. A distributed control law based on internal reference models and dynamic output feedback is presented for output consensus. It is shown that the embedded internal reference models of agents can achieve consensus to a common trajectory which is determined by the underlying system topology and the initial states of the internal reference models. Then a necessary and sufficient condition is presented for output consensus of heterogeneous linear multi‐agent systems. Finally, a numerical example is provided to demonstrate the effectiveness of the proposed control laws. 相似文献
3.
We consider a distributed consensus problem for continuous‐time multi‐agent systems with set constraints on the final states. To save communication costs, an event‐triggered communication‐based protocol is proposed. By comparing its own instantaneous state with the one previously broadcasted to neighbours, each agent determines the next communication time. Based on this event‐triggered communication, each agent is not required to continuously monitor its neighbours' state and the communication only happens at discrete time instants. We show that, under some mild conditions, the constrained consensus of the multi‐agent system with the proposed protocol can be achieved with an exponential convergence rate. A lower bound of the transmission time intervals is provided that can be adjusted by choosing different values of parameters. Numerical examples illustrate the results. Copyright © 2016 John Wiley & Sons, Ltd. 相似文献
4.
This paper studies the global leader‐following consensus problem for a multiagent system using event‐triggered linear feedback control laws. The leader agent is described by a neutrally stable linear system and the follower agents are also described by a neutrally stable linear system but with saturating input. Both the state‐feedback case and the output‐feedback case are considered. In each case, an event‐triggered control law is constructed for each follower agent and an event‐triggering strategy is designed for updating these control laws. These event‐triggered control laws are shown to achieve global leader‐following consensus when the communication topology among the follower agents is strongly connected and detailed balanced and the leader is a neighbor of at least one follower agent. The Zeno behavior is excluded. The theoretical results are illustrated by simulation. 相似文献
5.
In this paper, an output‐feedback adaptive consensus tracking control scheme is proposed for a class of high‐order nonlinear multi‐agent systems. The agents are allowed to have unknown parameters, unknown nonlinearities, and input quantization simultaneously. The desired trajectory to be tracked is available for only a subset of agents, and only the relative outputs and the quantized inputs need to be measured or transmitted as signal exchange among neighbors regardless of the system order. By introducing a kind of high‐gain K‐filters and a smooth function, the effect among agents caused by the unknown nonlinearities is successfully counteracted, and all closed‐loop signals are proved to be globally uniformly bounded. Moreover, it is shown that the tracking errors converge to a residual set that can be made arbitrarily small. Simulation results on robot manipulators are presented to illustrate the effectiveness of the proposed scheme. Copyright © 2017 John Wiley & Sons, Ltd. 相似文献
6.
This paper is devoted to the robust output consensus problem of fractional‐order interval multi‐agent systems (FOIMASs) with fixed undirected topologies, where the fractional order, the system matrix, and the input matrix are perturbed simultaneously, and there exist linear coupling relationships among the fractional order and the perturbations of the system matrix and the input matrix. According to the information of the agents' neighbors, we design a distributed output feedback protocol. A sufficient condition guaranteeing the robust output consensus of FOIMASs is derived in terms of nonlinear matrix inequalities. By the matrix transformation and the singular value decomposition, the nonlinear matrix inequalities are transformed into linear matrix inequalities, and the output feedback gain matrix is obtained. A numerical simulation example is presented to demonstrate the effectiveness of the proposed method. 相似文献
7.
This paper studies the event‐triggered output consensus problem of heterogeneous linear multiagent systems characterized via fixed and switching directed graphs. With proper state‐dependent triggering functions, two new event‐triggered output consensus control schemes are proposed for each agent to achieve consensus. Notably, under the proposed control protocols, continuous communication among agents is not required in both controllers updating and triggering threshold detection, which means being completely continuous communication free. The communication instances are reduced significantly, and the periodic or high‐frequency communication is restrained. It is also ensured that events cannot be triggered infinitely in finite time (ie, the Zeno behavior is elegantly avoided). Meanwhile, the simulation examples are given to illustrate the theoretical analysis. 相似文献
8.
This paper studies the leader‐following consensus problem for Lipschitz nonlinear multi‐agent systems using novel event‐triggered controllers. A distributed adaptive law is introduced for the event‐based control strategy design such that the proposed controllers are independent of system parameters and only use the relative states of neighboring agents, and hence are fully distributed. Due to the introduction of an event‐triggered control scheme, the controller of the agent is only triggered at it's own event times, and thus reduces the amount of communication between controller and actuator and lowers the frequency of controller updates in practice. Based on a quadratic Lyapunov function, the event condition which uses only neighbor information and local computation at trigger instants is established. Infinite triggers within a finite time are also verified to be impossible. The effectiveness of the theoretical results are illustrated through simulation examples. 相似文献
9.
This article investigates the consensus problem for positive multiagent systems via an observer‐based dynamic output‐feedback protocol. The dynamics of the agents are modeled by linear positive systems and the communication topology of the agents is expressed by an undirected connected graph. For the consensus problem, the nominal case is studied under the semidefinite programming framework while the robust and nonfragile cases are investigated under the linear programming framework. It is required that the distributed state‐feedback controller and observer gains should be structured to preserve the positivity of multiagent systems. Necessary and/or sufficient conditions for the analysis of consensus are obtained by using positive systems theory and graph theory. For the nominal case, necessary and sufficient conditions for the codesign of state‐feedback controller and observer of consensus are derived in terms of matrix inequalities. Sufficient conditions for the robust and nonfragile consensus designs are derived and the codesign of state‐feedback controller and observer can be obtained in terms of solving a set of linear programs. Numerical simulations are provided to show the effectiveness and applicability of the theoretical results and algorithms. 相似文献
10.
This paper studies the event‐triggered containment control problem for dynamical multiagent networks of general MIMO linear agents. An event‐triggered containment control strategy is provided, which consists of a control law based on a relative‐state feedback and a distributed triggering rule based on both the relative‐state information and a time‐dependent threshold function. Compared to the previous related works, our main contribution is that the triggering rule depends only on local information of communication networks. It is proved that under the proposed event‐based controller, the containment errors are uniformly ultimately bounded and the Zeno behavior can be excluded. Moreover, when the derivation constant in the threshold function is equal to zero, the containment control problem can be solved. Then, the results are extended to the event‐triggered observer‐based containment controller design. 相似文献