火力与指挥控制2025，Vol.50Issue(6)：123-129,7.DOI:10.3969/j.issn.1002-0640.2025.06.016
动态事件触发下非线性多智能体时变编队
Dynamic Event-triggered Time-varying Formation Control For nonlinear Multi-agent Systems
赵志诚 1李祥2
作者信息
- 1. 太原科技大学电子信息工程学院,太原 030024||太原工业学院自动化系,太原 030008
- 2. 太原科技大学电子信息工程学院,太原 030024
- 折叠
摘要
Abstract
To solve the problem of high-order multi-agent systems time-varying formation control with Lipschitz nonlinear term,a distributed controller is designed by using dynamic event-triggered mechanism.Due to the introduction of internal dynamic variables,the number of triggers can be lesser,and the communication resources between agents can be reduced compared with the existing static event triggering mechanism.Then,a sufficient condition for designing distributed time-varying control protocol is proposed based on Lyapunov stability theorem.It is also proven that the Zeno behavior is strictly ruled out.Finally,the motion of the multi-aircraft is simulated in Matlab,and the results achieve the expected time-varying formation,which proves the effectiveness of the control protocol and saves communication resources effectively.关键词
多智能体系统/领航跟随者法/时变编队/动态事件触发/非线性系统Key words
multi-agent system/leader follower method/time-varying formation/dynamic event-triggered/nonlinear system分类
信息技术与安全科学引用本文复制引用
赵志诚,李祥..动态事件触发下非线性多智能体时变编队[J].火力与指挥控制,2025,50(6):123-129,7.
