切换拓扑下多自主体系统的事件触发一致性控制

本文针对一阶非线性多自主体系统,考察了切换拓扑下的事件触发一致性控制问题.当切换拓扑子图的并图包含有向生成树时,基于一阶保持器提出了一种分布式事件触发一致性算法,用以降低网络的通信负载.运用迭代法和不等式法,得到了多自主体系统达到有界一致性的充分条件.此外,证明了所提事件触发机制不存在Zeno现象,并得到了触发间隔的正下界.最后,给出仿真实例,验证了所提事件触发一致性算法和理论分析结果的有效性.

Event-triggered consensus control of multi-agent systems under switching topologies

In this article, the consensus control problem is addressed for the first-order nonlinear multi-agent systems under switching topologies. Under an assumption that the union graph of switching topologies contains a directed spanning tree, a distributed event-triggered consensus algorithm using first-order hold is developed to decrease the network communication load. Based on iterative method and inequality method, several sufficient criteria are obtained for the agents to reach the bounded consensus. Furthermore, it is proved that Zeno behavior is excluded under the proposed event-triggered algorithm, and the positive lower bound of the minimum inter-event times is given. Finally, the effectiveness of the proposed even-triggered consensus algorithm and theoretical results are substantiated by means of a numerical simulation.