事件触发机制下的多速率多智能体系统非脆弱一致性控制

针对一类多速率多智能体系统，研究在事件触发机制下的非脆弱H_∞一致性控制问题。为了更符合实际需要，采用多速率采样策略，并通过提升技术将多速率采样转化为单速率采样。考虑到智能体间的通信负担，引入事件触发机制来减少智能体间的通信次数。此外，考虑到控制器在执行过程中可能出现的不精确性，本文设计一种可以容忍执行过程中变化/波动的控制器。综上，本文的目的是设计一种基于观测器的事件触发非脆弱控制器来实现多智能体系统的H_∞一致性控制。利用线性矩阵不等式技术，得到使系统满足H_∞一致性控制的充分条件，然后设计控制器参数。最后，为了说明事件触发控制方法的有效性，给出一个数值仿真实例。

Event-Triggered Mechanism Based Non-Fragile Consensus Control for Multi-Rate Multi-Agent Systems

The research on the non-fragile H_∞-consensus control problem for a class of multi-rate multi-agent system under the event-triggered (ET) mechanism is focused on. In order to be more in line with actual need, a multi-rate sampling strategy is adopted, which leads to a multi-rate sampling that can be converted into a single-rate sampling via lifting technique. Considering the transmission burden among the agents, an ET mechanism is introduced to reduce the numbers of transmission among the agents. In addition, in view of the possible inaccuracy of the controller implementation, a controller that can tolerate the changes/fluctuations during the implementation is designed to make the multi-agent system more robust. An observer-based ET non-fragile controller is designed to achieve the H_∞-consensus control of the multi-agent system, in which the controller can tolerate the variations/fluctuations during the implementation. By using the linear matrix inequality technique, the sufficient conditions are obtained that can ensure the H_∞-consensus control of the considered system, and then the controller parameters are designed. Finally, a numerical simulation example is given to prove the effectiveness of the ET control method.