基于事件触发的离散多智能体二分一致性

针对一阶离散多智能体系统,研究了事件触发控制下的二分一致性问题.首先考虑智能体间通信拓扑结构为无向连通结构平衡图的情形,针对各智能体设计事件触发控制,包括仅依赖于自身及邻居智能体采样状态的控制输入,以及仅依赖自身状态的事件触发条件,实现了对通信资源的节约利用.基于图论、离散系统稳定性理论,证明系统能够实现二分一致性.同时,合理设置控制输入及事件触发条件中参数,保证系统不存在Zeno现象.之后,进一步分析设计了包含有向生成树的结构平衡图下,多智能体系统的事件触发控制.最后利用仿真实例验证了理论结果的有效性.

Event-triggered Bipartite Consensus for Discrete-time Multi-agent Systems

This paper studies the event-triggered bipartite consensus problem of the first-order discrete-time multi-agent systems. Firstly, we consider multiple agents associated with an undirected connected structurally balanced graph. The event-triggered control is designed for each agent, including the control input that only depends on the sampling state of the agent and its neighbors, and the triggering condition that only relies on its own state. Under such a mechanism, the communication resources can be saved. Based on the algebraic graph theory and the stability theory of discrete-time systems, it is proved that the system can achieve bipartite consensus. Meanwhile, the parameters in the control input and the triggering condition are properly set to ensure that there is no Zeno behavior. Moreover, the event-triggered control is analyzed and designed for agents under a directed structurally balanced graph that has a directed spanning tree. Finally, two simulation examples are provided to verify the effectiveness of the theoretical results.