自动化学报2018，Vol.44Issue(12)：2269-2277,9.DOI:10.16383/j.aas.2018.c160839
组合连通拓扑下基于事件触发的多智能体快速一致性算法
Event-triggered Fast Consensus Algorithm for Multi-agent Systems Under Jointly-connected Topology
摘要
Abstract
This paper investigates the event-triggered consensus problem of multi-agent systems under jointly-connected topology. In order to reduce the unnecessary waste of limited communication and computing resources as well as improve convergence rate, a novel event-triggered consensus control law with state predictor is proposed. In particular, every agent can predict the future state of its neighbor; meanwhile, for each agent a state-dependent event condition is given, and only when state error satisfies this event condition, can the event be triggered. This control strategy can lead to a significant reduction of information communication burden in a multi-agent network and improvement of convergence rate. Based on the Lyapunov stability theorem and algebraic graph theory, the proposed event-triggered control strategy is proven to be able to implement the average consensus when the topology is jointly-connected. Moreover, such strategies can exclude Zeno-behavior. Finally, numerical simulations are given to illustrate the effectiveness of the theoretical results.关键词
多智能体系统/事件触发控制/快速一致性/组合连通拓扑Key words
Multi-agent systems/event-triggered control/fast consensus/jointly-connected引用本文复制引用
陈世明,管俊杰,高彦丽,裴惠琴,邱昀..组合连通拓扑下基于事件触发的多智能体快速一致性算法[J].自动化学报,2018,44(12):2269-2277,9.基金项目
国家自然科学基金(11662002,61364017) （11662002,61364017）
江西省科技厅项目(20161BBE53008,20165BCB19011,20171BAB202029) （20161BBE53008,20165BCB19011,20171BAB202029）
江西省教育厅项目(GJJ151168)资助 （GJJ151168）
