基于事件触发的非线性多智能体系统的固定时间分群一致性

结合事件触发控制方法研究非线性多智能体系统的固定时间分群一致性问题.提出一种非线性分布式事件触发分群一致性控制协议,并给出状态信息触发控制器更新的条件.该控制协议不受入度平衡条件限制,且只需自身状态信息与邻居智能体进行通信即可在固定时间内快速实现分群一致性.系统收敛时间与智能体的初始状态无关,可有效降低系统控制器更新频率和系统的资源消耗.结合代数图论、矩阵分析及Lyapunov稳定性理论,证明在所提出协议作用下,多智能体系统在固定时间内能够实现分群一致性,且不存在Zeno行为.最后,通过仿真实例检验了理论结果的可行性.

Fixed-time group consensus control for nonlinear multi-agent systems based on event-triggered mechanism

The problem of fixed-time group consensus for nonlinear multi-agent systems based on event-triggered mechanism is studied. A nonlinear distributed event-triggered group consensus control protocol is proposed, and the condition of the updating controller triggered by states information is given. The control protocol is not restricted by the in-degree balance condition and only needs its own state information to communicate with the neighbor agents to achieve the group consensus quickly in fixed-time. The convergence time is independent of the initial state of the agent, which can effectively reduce the system controller update frequency and system resource consumption. Combining the algebraic graph theory, the matrix analysis and the Lyapunov stability theory, it is proved that under the proposed strategy, the multi-agent system can achieve group consensus in a fixed time, and Zeno behavior does not exist in the system. Finally, simulation example verifies the feasibility of the theoretical results.