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基于事件触发的三阶离散多智能体系统一致性分析

董滔 李小丽 赵大端

董滔, 李小丽, 赵大端. 基于事件触发的三阶离散多智能体系统一致性分析. 自动化学报, 2019, 45(7): 1366-1372. doi: 10.16383/j.aas.2017.c170406
引用本文: 董滔, 李小丽, 赵大端. 基于事件触发的三阶离散多智能体系统一致性分析. 自动化学报, 2019, 45(7): 1366-1372. doi: 10.16383/j.aas.2017.c170406
DONG Tao, LI Xiao-Li, ZHAO Da-Duan. Event-triggered Consensus of Third-order Discrete-time Multi-agent Systems. ACTA AUTOMATICA SINICA, 2019, 45(7): 1366-1372. doi: 10.16383/j.aas.2017.c170406
Citation: DONG Tao, LI Xiao-Li, ZHAO Da-Duan. Event-triggered Consensus of Third-order Discrete-time Multi-agent Systems. ACTA AUTOMATICA SINICA, 2019, 45(7): 1366-1372. doi: 10.16383/j.aas.2017.c170406

基于事件触发的三阶离散多智能体系统一致性分析

doi: 10.16383/j.aas.2017.c170406
基金项目: 

中央高校基本科研业务费 XDJK2017D170

中国博士后基金 2016M600720

重庆市博士后项目 Xm2016003

国家自然科学基金 61503310

重庆市基础科学与前沿技术研究项目 cstc2019jcyj-msxm2105

中央高校基本科研业务费 XDJK2016B018

重庆市技术创新与应用示范项目 cstc2018jszx-cyzdX0171

中央高校基本科研业务费 XDJK2017D183

详细信息
    作者简介:

    李小丽   西南大学电子信息工程学院硕士研究生.主要研究方向为多智能体系统的一致和分布式优化.E-mail:xlli@swu.edu.cn

    赵大端  西南大学电子信息工程学院硕士研究生.主要研究方向为非线性动力学系统, 分布式优化一致, 多智能体系统一致.E-mail:zhaodaduan123@163.com

    通讯作者:

    董滔   西南大学电子信息工程学院副教授.主要研究方向为多智能体系统控制, 神经网络, 非线性动力学系统, 分岔与混沌研究.本文通信作者.E-mail:david_312@126.com

Event-triggered Consensus of Third-order Discrete-time Multi-agent Systems

Funds: 

Fundamental Research Funds for the Central Universities XDJK2017D170

China Postdoctoral Foundation 2016M600720

Chongqing Postdoctoral Project Xm2016003

National Natural Science Foundation of China 61503310

Chongqing Basic Science and Frontier Technology Project cstc2019jcyj-msxm2105

Fundamental Research Funds for the Central Universities XDJK2016B018

Chongqing Technological Innovation and Application Project cstc2018jszx-cyzdX0171

Fundamental Research Funds for the Central Universities XDJK2017D183

More Information
    Author Bio:

      Master student in the Department of Electronics and Information Engineering, Southwest University. Her research interest covers consensus and distributed optimization of multi-agent systems

      Master student in the Department of Electronics and Information Engineering, Southwest University. His research interest covers nonlinear dynamical systems, distributed optimization consensus, and consensus of multi-agent systems

    Corresponding author: DONG Tao   Associate professor at the School of Electronics and Information Engineering, Southwest University. His research interest covers multi agent system control, neural networks, nonlinear dynamical systems, bifurcation and chaos. Corresponding author of this paper
  • 摘要: 研究了基于事件触发控制的三阶离散多智能体系统的一致性问题.首先,基于位置、速度和加速度三者的测量误差,设计了一个新颖的事件触发控制机制.然后,利用不等式技巧,得到了使离散多智能体系统达到一致的充分条件.所得到的条件揭示了系统的通信拓扑的Laplacian矩阵特征值和耦合强度对于系统一致性的影响.此外,还给出了事件触发控制器排除类Zeno行为的确定条件,这意味着事件触发控制器不会每个迭代时刻都更新.最后,通过仿真实验验证了所获得理论结果的正确性和可用性
    1)  本文责任编委 陈龙
  • 图  1  6个智能体通信拓扑结构图

    Fig.  1  The communication topology with six agents

    图  2  三阶离散多智能体系统的位置轨迹图

    Fig.  2  The trajectories of position in third-order discrete-time multi-agent systems

    图  3  三阶离散多智能体系统的速度轨迹图

    Fig.  3  The trajectories of speed in third-order discrete-time multi-agent systems

    图  4  三阶离散多智能体系统的加速度轨迹图

    Fig.  4  The trajectories of acceleration in third-order discrete-time multi-agent systems

    图  5  三阶离散多智能体系统的控制轨迹图

    Fig.  5  The trajectories of control in third-order discrete-time multi-agent systems

    图  6  100次迭代内所有智能体的触发时刻

    Fig.  6  Triggering instants of all agents within 100 iterations

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出版历程
  • 收稿日期:  2017-07-25
  • 录用日期:  2017-11-06
  • 刊出日期:  2019-07-20

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