事件触发机制下二阶多智能体系统量化追踪控制

为了解决控制器频繁更新及通信带宽有限性的问题,对二阶线性多智能体系统在事件触发机制下的量化追踪控制进行研究.设计与均匀量化器相关的事件触发控制机制,提出基于事件触发的追踪控制算法,并使用均匀量化器对控制输入中的所有跟随者状态进行量化处理.基于Lyapunov稳定性理论分析,得到在该算法下使系统渐近趋于一致的充分条件.研究结果表明:所提出的控制协议可以排除芝诺行为.最后,通过数值实验说明理论结果的有效性.

Quantitative Tracking Control of Second-Order Multi-Agent System Based on Event Trigger

In order to solve the problems of the controller frequent updates and limited communication bandwidth, the problem of quantitative tracking control in the second-order linear multi-agent system under the event-triggered mechanism is studied. An event-triggered control mechanism related to the uniform quantized-data interaction is designed, a tracking control based on event trigger algorithm is proposed, and a uniform quantized-data interaction is used to quantify all follower states in the control input. Based on the analysis of Lyapunov stability theory, sufficient conditions are obtained for the algorithm to make the system approach consensus. The research results show that the proposed control protocol can eliminate Zeno behavior. Finally, numerical simulation illustrates the effectiveness of the theory.