广东工业大学学报2025，Vol.42Issue(4)：96-104,9.DOI:10.12052/gdutxb.240165
基于观测的事件触发控制策略下随机多智能体系统一致性
Consensus of Stochastic Multi-agent Systems via Observer-based Event-triggered Control Strategy
摘要
Abstract
Due to the fact that the accurate state of object in real life may not be available in real-time,it is necessary to use observations for optimal state estimation.The consensus of Multi-Agent Systems(MASs)with stochastic process noise and measurement noise is investigated based on observations.Firstly,according to the theory of Kalman filtering,the optimal state estimation of each agent can be obtained and the state information is sent to adjacent agents through the network communication topology.Then,within the same time interval,a new event triggered measurement error function is defined for adjacent nodes,which can obtain the non-triggered state of adjacent nodes at that triggering moment.Additionally,a corresponding event-triggered controller is matched,effectively reducing the controller's update frequency,and the criterion for the mean square consensus theorem of the MASs is obtained.Finally,the effectiveness of the proposed event triggered control protocol is verified through numerical simulation.关键词
随机多智能体系统/卡尔曼滤波/事件触发控制/领导跟随一致性Key words
stochastic multi-agent systems/Kalman filtering/event-triggered control/leader-following consensus分类
信息技术与安全科学引用本文复制引用
王宏,任志刚,邢玛丽,张波..基于观测的事件触发控制策略下随机多智能体系统一致性[J].广东工业大学学报,2025,42(4):96-104,9.基金项目
国家自然科学基金资助项目(62273101) （62273101）
广东省自然科学基金资助项目(2021A1515011343,2024A15155011768) （2021A1515011343,2024A15155011768）
浙江大学工业控制技术国家重点实验室开放研究项目(ICT2024B43) （ICT2024B43）
广州市科技计划项目(202201010251) （202201010251）
