脉冲式事件触发控制的时变多个体系统一致性

针对时变拓扑连接环境下的时变多个体系统的一致性问题，提出基于事件触发的脉冲控制协议。在该协议里对于每个个体，只有当相关状态误差超过阈值时才会更新控制器，同时控制输入将仅在事件触发时刻执行，且个体间不需要持续通信。该协议将大幅节约系统实现一致性的通信和控制成本。使用代数图论、李雅普诺夫稳定性和脉冲微分方程等数学理论分析和推导具有时变特性的多个体系统在事件触发脉冲控制下达到一致性的充分条件，同时理论证明事件触发的时间序列不存在芝诺行为。最后，数值仿真验证了所得到的理论结论的有效性。

Consensus of time-varying multi-agent systems based on event-triggered impulsive control

For the consensus problem of time-varying multi-agent systems under time-varying topology connection, an event-triggered impulsive control protocol was proposed. In this protocol, for each agent, the controller would be updated only when the related state error exceeded a threshold, and the control inputs would be carried out only at the event triggering instants, and continuous communication between agents was avoided. This protocol would greatly reduce the cost of communication and control for network consensus. The sufficient conditions for the multi-agent systems with time-varying characteristics to achieve consensus under event-triggered impulsive control were analyzed based on the algebraic graph theory, Lyapunov stability and impulsive differential equation. At the same time, it was proved theoretically that there was no Zeno behavior in the event-triggered time sequences. Finally, the effectiveness of the obtained theoretical conclusion was verified through several numerical simulations.