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基于事件触发的非线性多智能体系统二分一致性跟踪控制
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Abstract:
针对非线性多智能体系统，研究了符号有向图下的基于事件触发的二分一致性跟踪控制问题。分别给出了集中式和分布式的事件触发控制协议。主要利用矩阵理论、代数图论和Lyapunov稳定性理论，证明了所给的控制协议能够解决二分一致性跟踪控制问题，并且不存在Zeno行为。采用事件触发策略，能够有效减少控制输入的更新次数，达到节约网络带宽和降低通信成本的目的。最后，仿真结果验证了理论结果的有效性。
This paper investigates the bipartite consensus tracking control problem of nonlinear multi-agent systems under the signed directed graph. The centralized and distributed event-triggered control protocols are presented respectively. By using matrix theory algebraic graph theory and Lyapunov stability theory, it is proved that the proposed control protocol can solve the bipartite consensus tracking control problem, and there is no Zeno behavior. The event-triggered strategy can effectively reduce the update times of control input, and achieve the purpose of saving network bandwidth and reducing communication cost. Finally, the simulation results verify the validity of the theoretical results.
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