基于事件触发的时变拓扑多智能体系统编队控制

针对资源受限的时变拓扑多智能体系统的编队控制问题,提出一种基于复合误差信息事件触发机制以减少不必要的信息传输,降低带宽占用,并设计了多智能体系统的编队控制协议和分布式事件触发机制.通过将多智能体系统的编队控制问题转化为闭环延时系统的稳定性问题,构造Lyapunov-Krasovskii函数并利用线性矩阵不等式技术,给出多智能体系统实现编队的充分条件.最后,通过仿真验证了所提出方法的有效性.

Formation control of multi-agent systems with time-varying topology based on event-triggered mechanism

For the formation control problem of time-varying topology multi-agent systems with resource-constraints, an event-triggered mechanism based on combination error information is presented to reduce the unnecessary information transmission and lower the occupation of bandwidth, and the formation control protocol and distributed event-triggered mechanism are designed for multi-agent systems. By transforming the formation control problem of multi-agent systems into the stability problem of closed-loop time delay system, the Lyapunov-Krasovskii functional is constructed, and the sufficient condition of formation is provided by using linear matrix inequality(LMI) techniques. Finally, a simulation example illustrates the effectiveness of the proposed method.