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切换拓扑下动态事件触发多智能体系统固定时间一致性

孙梦薇 任璐 刘剑 孙长银

孙梦薇, 任璐, 刘剑, 孙长银. 切换拓扑下动态事件触发多智能体系统固定时间一致性. 自动化学报, 2022, 48(4): 1−11 doi: 10.16383/j.aas.c211123
引用本文: 孙梦薇, 任璐, 刘剑, 孙长银. 切换拓扑下动态事件触发多智能体系统固定时间一致性. 自动化学报, 2022, 48(4): 1−11 doi: 10.16383/j.aas.c211123
Sun Meng-Wei, Ren Lu, Liu Jian, Sun Chang-Yin. Dynamic event-triggered fixed-time average consensus control of multi-agent systems under switching topologies. Acta Automatica Sinica, 2022, 48(4): 1−11 doi: 10.16383/j.aas.c211123
Citation: Sun Meng-Wei, Ren Lu, Liu Jian, Sun Chang-Yin. Dynamic event-triggered fixed-time average consensus control of multi-agent systems under switching topologies. Acta Automatica Sinica, 2022, 48(4): 1−11 doi: 10.16383/j.aas.c211123

切换拓扑下动态事件触发多智能体系统固定时间一致性

doi: 10.16383/j.aas.c211123
基金项目: 国家自然科学基金 (61921004, 62103099, 62003044), 江苏省前沿引领技术基础研究专项 (BK20202006) 资助
详细信息
    作者简介:

    孙梦薇:安徽大学物质科学与信息技术研究院博士研究生. 主要研究方向为多智能体系统,固定时间控制和事件触发控制. E-mail: q21101014@stu.ahu.edu.cn

    任璐:安徽大学人工智能学院讲师. 2021年获得东南大学控制科学与工程博士学位. 主要研究方向为多智能体系统一致性控制, 复杂动态网络同步. 本文通信作者. E-mail: penny_lu@ahu.edu.cn

    刘剑:东南大学自动化学院副研究员. 分别于2015年, 2020年获得北京科技大学学士和博士学位. 主要研究方向为多智能体系统, 非线性控制, 事件触发控制和固定时间控制. E-mail: bkliujian@163.com

    孙长银:东南大学自动化学院教授. 1996年获得四川大学应用数学专业理学学士学位. 分别于2001年, 2004年获得东南大学电子工程专业硕士和博士学位. 主要研究方向为智能控制, 飞行器控制, 模式识别和优化理论. E-mail: cysun@seu.edu.cn

Dynamic Event-triggered Fixed-time Average Consensus Control of Multi-agent Systems Under Switching Topologies

Funds: Supported by National Natural Science Foundation of China (61921004,62103099,62003044),Natural Science Foundation of Jiangsu Province of China (BK20202006)
More Information
    Author Bio:

    SUN Meng-Wei Ph.,D. candidate at the Institutes of Physical Science and Information Technology, Anhui University. Her research interest covers multi-agent systems, fixed-time control, and event-triggered control

    REN Lu Instructor at the School of Artificial Intelligence, Anhui University. She received her Ph.,D. degree in control science and engineering from Southeast University in 2021. Her research interest covers consensus control of multi-agent systems, synchronization of complex dynamical networks. Corresponding author of this paper

    LIU Jian Associate Professor at the School of Automation, Southeast University. He received his bachelor and Ph.,D. degrees from University of Science and Technology Beijing in 2015 and 2020, respectively. His research interest covers multi-agent systems, nonlinear control, event-triggered control, and fixed-time control

    SUN Chang-Yin Professor at the School of Automation, Southeast University. He received his bachelor degree in applied mathematics from Sichuan University in 1996, and his master and Ph.,D. degrees in electrical engineering from Southeast University in 2001 and 2004, respectively. His research interest covers intelligent control, flight control, pattern recognition, and optimal theory

  • 摘要: 针对有扰动的一阶非线性多智能体系统在切换拓扑下的实际固定时间平均一致性问题, 提出了基于动态事件触发机制的固定时间一致性协议. 该一致性协议在节约更多资源的情况下, 使多智能体系统以更快的速度达到一致. 相对于有限时间一致性控制算法, 固定时间一致性控制算法的收敛时间不依赖于初始状态, 并且可以通过选择合适的控制器参数设定相应的收敛时间上界. 通过设计一个包含双曲正切函数的测量误差, 证明系统不存在Zeno行为. 由于内部动态变量的引入, 大量不必要的触发被取消, 从而节省能量损耗. 最后, 通过仿真实验验证算法的可行性和有效性.
  • 图  1  多智能体系统的切换拓扑

    Fig.  1  Switching topologies of the multi-agent system

    图  2  多智能体系统动态事件触发下的系统状态变化、触发时刻、动态变量变化

    Fig.  2  State evolution, triggering instants, and changes of the dynamic variables under dynamic event-triggered mechanism

    图  3  多智能体系统动态事件触发机制下的误差变化

    Fig.  3  Error change under dynamic event-triggered mechanism

    图  4  多智能体系统静态事件触发下的系统状态变化和触发时刻

    Fig.  4  State evolution and triggering instants under static event-triggered mechanism

    图  5  不同参数下系统中各智能体误差的平方和

    Fig.  5  Sum of squares of the errors under different parameters

    图  6  不同参数下多智能体系统触发次数的变化

    Fig.  6  Numbers of triggering instants under different parameters

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  • 收稿日期:  2021-11-27
  • 录用日期:  2022-03-01
  • 网络出版日期:  2022-05-18

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