摘要
研究了一般线性多智能体系统的事件驱动一致性问题,分别给出了集中式和分布式两种类型的事件驱动协议及其对应的一致性条件,并分析了系统最后能够达到的趋同状态轨迹。其中,在分布式控制方式下,每个智能体的控制协议和事件触发条件都仅使用了其自身和邻居的局部状态信息。最后通过数值仿真验证了所提协议的有效性和所得理论结果的正确性。
This paper investigates the event-triggered consensus control of a general linear multi-agent system. Both centralized and distributed protocols are designed and the corresponding consensus conditions are also given. Meanwhile, we analyze the consensus trajectory of the multi-agent system under the proposed protocols.In the proposed distributed protocol, each agent only uses the states of its neighbors and the state of itself to determine its event-trigger condition and generate the control input. All the obtained theoretical results are illustrated by numerical simulations.
作者
李思远
刘杨
LI Si-yuan;LIU Yang(School of Automation Science and Electrical Engineering,Beihang University,Beijing 100191)
出处
《控制工程》
CSCD
北大核心
2018年第7期1318-1325,共8页
Control Engineering of China
基金
国家自然科学基金面上项目(基金号61473015)
中央高校基本科研业务费专项资金
关键词
一致性
事件触发控制
多智能体系统
线性系统
Consensus： event-triggeredcontrol
multi-agentsystem
general linear system
