一种基于切换拓扑和事件触发机制的一致性协议

研究了一种新的基于切换拓扑的事件触发一致性协议,该协议设计了两个事件触发器,包括智能体状态演化引发的收敛事件触发器和拓扑变化引发的拓扑事件触发器,并给出了与事件触发器有关的公共Lyapunov函数的稳定性分析和理论证明,还设计了一种基于约束集的网络连通算法,用于提高网络的连通性。仿真实验结果表明,新的协议能够使得系统收敛一致,有效降低智能体控制器的更新频率,减少系统能耗,提升网络的连通效果,能为事件触发控制的后续研究提供理论支撑。

Consensus protocol based on switching topology and event triggering mechanism

This paper studied a new event-triggered consensus protocol for MAS based on switching topology.It designed two events in this protocol,including convergence events caused by agent state evolution and topology events caused by topology change.It gave stability analysis of public Lyapunov function related to events and consensus proof of MAS.It also designed a network connectivity algorithm based on constraint set to enhance network connectivity.The simulation results show that the designed event-triggered consensus protocol can make the state evolution of agents tend to be consistent and effectively reduce the update frequency of the controller of agents in the switching topology network environment,reduce the energy consumption of MAS,improve the connectivity effect of the network effectively,and provide theoretical support for the subsequent research of event-triggered control.