基于事件触发的三阶离散多智能体系统一致性分析
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摘要
研究了基于事件触发控制的三阶离散多智能体系统的一致性问题.首先,基于位置、速度和加速度三者的测量误差,设计了一个新颖的事件触发控制机制.然后,利用不等式技巧,得到了使离散多智能体系统达到一致的充分条件.所得到的条件揭示了系统的通信拓扑的Laplacian矩阵特征值和耦合强度对于系统一致性的影响.此外,还给出了事件触发控制器排除类Zeno行为的确定条件,这意味着事件触发控制器不会每个迭代时刻都更新.最后,通过仿真实验验证了所获得理论结果的正确性和可用性
This paper concerns with the event-triggered consensus problem for third-order discrete-time multi-agent systems. First, a novel event-based control scheme for third-order discrete-time multi-agent systems is designed. The event trigger function for each agent is based on the measurement error of position, speed and acceleration. Then, by utilizing the inequality technique, some sufficient conditions are obtained to make the agent achieve consensus. Our conditions reveal how the Laplacian matrix eigenvalues and coupling strengths affect the consensus of discrete-time multiagent systems with event-trigger control strategy. Moreover, the Zeno-like behavior is avoided under certain conditions,which means the controller cannot update at each time instant. Finally, the correctness and availability of the proposed method are validated via some simulation experiments.
This paper concerns with the event-triggered consensus problem for third-order discrete-time multi-agent systems. First, a novel event-based control scheme for third-order discrete-time multi-agent systems is designed. The event trigger function for each agent is based on the measurement error of position, speed and acceleration. Then, by utilizing the inequality technique, some sufficient conditions are obtained to make the agent achieve consensus. Our conditions reveal how the Laplacian matrix eigenvalues and coupling strengths affect the consensus of discrete-time multiagent systems with event-trigger control strategy. Moreover, the Zeno-like behavior is avoided under certain conditions,which means the controller cannot update at each time instant. Finally, the correctness and availability of the proposed method are validated via some simulation experiments.
引文
1 Morbidi F, Mariottini G L, Prattichizzo D. Observer design via immersion and invariance for vision-based leader-follower formation control. Automatica, 2010, 46(1):148-154
2 Zhang H T, Chen Z, Yan L, Yu W W. Applications of collective circular motion control to multirobot systems. IEEE Transactions on Control Systems Technology, 2013, 21(4):1416-1422
3 Zhang H T, Cheng Z M, Chen G R, Li C G. Model predictive flocking control for second-order multi-agent systems with input constraints. IEEE Transactions on Circuits and Systems, 2015, 62(6):1599-1606
4 Stankovic M S, Johansson K H, Stipanovic D M. Distributed seeking of Nash Equilibria with applications to mobile sensor networks. IEEE Transactions on Automatic Control, 2012,57(4):904-919
5 Hu J P, Hu X M. Nonlinear filtering in target tracking using cooperative mobile sensors. Automatica, 2011, 46(12):2041-2046
6 Yang Ruo-Han, Zhang Hao, Yan Huai-Cheng. Eventtriggered cooperative output regulation of heterogeneous multi-agent systems with switching topology. Acta Automatica Sinica, 2017, 43(3):472-477(杨若涵,张皓,严怀成.基于事件触发的拓扑切换异构多智能体协同输出调节.自动化学报, 2017, 43(3):472-477)
7 Zhao D D, Dong T. Reduced-order observer-based consensus for multi-agent systems with time delay and event trigger strategy. IEEE Access, 2017, 5:1263-1271
8 He W L, Zhang B, Han Q L, Qian F, Kurths J, Cao J D.Leader-following consensus of nonlinear multiagent systems with stochastic sampling. IEEE Transactions on Cybernetics, 2017, 47(2):327-338
9 Zhang Xie-Yan, Zhang Jing. Sampled-data consensus of multi-agent systems with general linear dynamics based on a continuous-time model. Acta Automatica Sinica, 2014,40(11):2549-2555(张协衍,章兢.基于连续时间模型的多智能体系统采样数据一致性.自动化学报, 2014, 40(11):2549-2555)
10 Dong T, Liao X F. On the general consensus protocol in multiagent networks with double-integrator dynamics and coupling time delay. Abstract and Applied Analysis, 2013,2013:Article No. 590894
11 Wang A J, Dong T, Liao X F. On the general consensus protocol in multi-agent networks with second-order dynamics and sampled data. Asian Journal of Control, 2016, 18(5):1914-1922
12 Huang N, Duan Z S, Chen G R. Some necessary and sufficient conditions for consensus of second-order multi-agent systems with sampled position data. Automatica, 2016, 63:148-155
13 Mu N K, Liao X F, Huang T W. Consensus of secondorder multi-agent systems with random sampling via eventtriggered control. Journal of the Franklin Institute, 2016,353(6):1423-1435
14 Xin Y M, Li Y X, Huang X, Cheng Z S. Consensus of third-order nonlinear multi-agent systems. Neurocomputing, 2015, 159:84-89
15 Cao Y F, Sun Y G. Consensus of discrete-time third-order multi-agent systems in directed networks. Neurocomputing,2016, 177:394-400
16 Hua C C, You X, Guan X P. Leader-following consensus for a class of high-order nonlinear multi-agent systems. Automatica, 2016, 73:138-144
17 Jiang F C, Wang L. Consensus seeking of high-order dynamic multi-agent systems with fixed and switching topologies. International Journal of Control, 2010, 83(2):404-420
18 Rezaee H, Abdollahi F. Consensus problem over high-order multiagent systems with uncertain nonlinearities under deterministic and stochastic topologies. IEEE Transactions on Cybernetics, 2017, 47(8):2079-2088
19 Liu X Y, Sun J, Dou L H, Chen J. Leader-following consensus for discrete-time multi-agent systems with parameter uncertainties based on the event-triggered strategy. Journal of Systems Science and Complexity, 2017, 30(1):30-45
20 Zhu W, Pu H Z, Wang D D, Li H Q. Event-based consensus of second-order multi-agent systems with discrete time.Automatica, 2017, 79:78-83
21 Huang N, Duan Z S, Wen G H, Zhao Y. Event-triggered consensus tracking of multi-agent systems with Lur e nonlinear dynamics. International Journal of Control, 2016, 89(5):1025-1037
22 Xu W Y, Ho D W C, Li L L, Cao J D. Event-triggered schemes on leader-following consensus of general linear multiagent systems under different topologies. IEEE Transactions on Cybernetics, 2016, 47(1):212-223
23 Zhang H, Feng G, Yan H C, Chen Q J. Observer-based output feedback event-triggered control for consensus of multiagent systems. IEEE Transactions on Industrial Electronics,2014, 61(9):4885-4894
2 Zhang H T, Chen Z, Yan L, Yu W W. Applications of collective circular motion control to multirobot systems. IEEE Transactions on Control Systems Technology, 2013, 21(4):1416-1422
3 Zhang H T, Cheng Z M, Chen G R, Li C G. Model predictive flocking control for second-order multi-agent systems with input constraints. IEEE Transactions on Circuits and Systems, 2015, 62(6):1599-1606
4 Stankovic M S, Johansson K H, Stipanovic D M. Distributed seeking of Nash Equilibria with applications to mobile sensor networks. IEEE Transactions on Automatic Control, 2012,57(4):904-919
5 Hu J P, Hu X M. Nonlinear filtering in target tracking using cooperative mobile sensors. Automatica, 2011, 46(12):2041-2046
6 Yang Ruo-Han, Zhang Hao, Yan Huai-Cheng. Eventtriggered cooperative output regulation of heterogeneous multi-agent systems with switching topology. Acta Automatica Sinica, 2017, 43(3):472-477(杨若涵,张皓,严怀成.基于事件触发的拓扑切换异构多智能体协同输出调节.自动化学报, 2017, 43(3):472-477)
7 Zhao D D, Dong T. Reduced-order observer-based consensus for multi-agent systems with time delay and event trigger strategy. IEEE Access, 2017, 5:1263-1271
8 He W L, Zhang B, Han Q L, Qian F, Kurths J, Cao J D.Leader-following consensus of nonlinear multiagent systems with stochastic sampling. IEEE Transactions on Cybernetics, 2017, 47(2):327-338
9 Zhang Xie-Yan, Zhang Jing. Sampled-data consensus of multi-agent systems with general linear dynamics based on a continuous-time model. Acta Automatica Sinica, 2014,40(11):2549-2555(张协衍,章兢.基于连续时间模型的多智能体系统采样数据一致性.自动化学报, 2014, 40(11):2549-2555)
10 Dong T, Liao X F. On the general consensus protocol in multiagent networks with double-integrator dynamics and coupling time delay. Abstract and Applied Analysis, 2013,2013:Article No. 590894
11 Wang A J, Dong T, Liao X F. On the general consensus protocol in multi-agent networks with second-order dynamics and sampled data. Asian Journal of Control, 2016, 18(5):1914-1922
12 Huang N, Duan Z S, Chen G R. Some necessary and sufficient conditions for consensus of second-order multi-agent systems with sampled position data. Automatica, 2016, 63:148-155
13 Mu N K, Liao X F, Huang T W. Consensus of secondorder multi-agent systems with random sampling via eventtriggered control. Journal of the Franklin Institute, 2016,353(6):1423-1435
14 Xin Y M, Li Y X, Huang X, Cheng Z S. Consensus of third-order nonlinear multi-agent systems. Neurocomputing, 2015, 159:84-89
15 Cao Y F, Sun Y G. Consensus of discrete-time third-order multi-agent systems in directed networks. Neurocomputing,2016, 177:394-400
16 Hua C C, You X, Guan X P. Leader-following consensus for a class of high-order nonlinear multi-agent systems. Automatica, 2016, 73:138-144
17 Jiang F C, Wang L. Consensus seeking of high-order dynamic multi-agent systems with fixed and switching topologies. International Journal of Control, 2010, 83(2):404-420
18 Rezaee H, Abdollahi F. Consensus problem over high-order multiagent systems with uncertain nonlinearities under deterministic and stochastic topologies. IEEE Transactions on Cybernetics, 2017, 47(8):2079-2088
19 Liu X Y, Sun J, Dou L H, Chen J. Leader-following consensus for discrete-time multi-agent systems with parameter uncertainties based on the event-triggered strategy. Journal of Systems Science and Complexity, 2017, 30(1):30-45
20 Zhu W, Pu H Z, Wang D D, Li H Q. Event-based consensus of second-order multi-agent systems with discrete time.Automatica, 2017, 79:78-83
21 Huang N, Duan Z S, Wen G H, Zhao Y. Event-triggered consensus tracking of multi-agent systems with Lur e nonlinear dynamics. International Journal of Control, 2016, 89(5):1025-1037
22 Xu W Y, Ho D W C, Li L L, Cao J D. Event-triggered schemes on leader-following consensus of general linear multiagent systems under different topologies. IEEE Transactions on Cybernetics, 2016, 47(1):212-223
23 Zhang H, Feng G, Yan H C, Chen Q J. Observer-based output feedback event-triggered control for consensus of multiagent systems. IEEE Transactions on Industrial Electronics,2014, 61(9):4885-4894