郑州大学学报（理学版）2026，Vol.58Issue(3)：59-67,9.DOI:10.13705/j.issn.1671-6841.2025005
带有执行器饱和的非线性多智能体事件触发一致性控制
Event-triggered Consensus Control for Nonlinear Multi-agent Systems with Actuator Saturation
摘要
Abstract
A distributed control method based on event-triggered was proposed to address the leader-fol-lowing consensus problem of multi-agent systems with one-sided Lipschitz dynamics,uncertainties,time delays and actuator saturation.Firstly,the nonlinear dynamics of the system was addressed through the one-sided Lipschitz condition and quadratic inner-boundedness method,while the actuator saturation characteristics was characterized using the convex hull representation method,and a distributed control protocol and event-triggered mechanism were designed.Secondly,by constructing a Lyapunov function,the achievement of leader-following consensus with constraints of time delays,uncertainties,and actuator saturation was proven.The controller gains were further obtained through linearization,and the consensus domain was estimated in the form of linear matrix inequalities.Finally,the existence of a strictly positive lower bound for all followers' triggering intervals was proven,through which Zeno behavior was effectively avoided,and the effectiveness of the proposed method was validated through numerical simulations.关键词
非线性多智能体系统/事件触发/输入饱和/时滞/一致性Key words
nonlinear multi-agent system/event-trigger/saturated input/time-delay/consensus分类
信息技术与安全科学引用本文复制引用
付磊,张利杰,郝雷,李松..带有执行器饱和的非线性多智能体事件触发一致性控制[J].郑州大学学报（理学版）,2026,58(3):59-67,9.基金项目
国家自然科学基金项目(62103126,12171135,62373132) （62103126,12171135,62373132）
河北省自然科学基金项目(A2020201021,F2020201014) （A2020201021,F2020201014）
河北大学高层次人才培养计划(521000981355) （521000981355）
河北大学研究与创新团队项目(IT202306,QNTD 202411) （IT202306,QNTD 202411）
