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李诺,马小陆,洪鹏,等. 动态事件触发二阶多智能体系统的预定时间比例一致性[J]. 安徽工业大学学报(自然科学版),xxxx,x(x):x-xx. DOI: 10.12415/j.issn.1671-7872.24118
引用本文: 李诺,马小陆,洪鹏,等. 动态事件触发二阶多智能体系统的预定时间比例一致性[J]. 安徽工业大学学报(自然科学版),xxxx,x(x):x-xx. DOI: 10.12415/j.issn.1671-7872.24118
LI Nuo, MA Xiaolu, HONG Peng, SHE Shengan, TAN Yibo. Predefined Time Proportional Consensus for Second-order Multi-agent Systems with Dynamic Event Triggering[J]. Journal of Anhui University of Technology(Natural Science). DOI: 10.12415/j.issn.1671-7872.24118
Citation: LI Nuo, MA Xiaolu, HONG Peng, SHE Shengan, TAN Yibo. Predefined Time Proportional Consensus for Second-order Multi-agent Systems with Dynamic Event Triggering[J]. Journal of Anhui University of Technology(Natural Science). DOI: 10.12415/j.issn.1671-7872.24118

动态事件触发二阶多智能体系统的预定时间比例一致性

Predefined Time Proportional Consensus for Second-order Multi-agent Systems with Dynamic Event Triggering

  • 摘要: 采用反推法设计1种基于动态事件触发的分布式预定时间控制策略,研究一般线性二阶多智能体系统的预定时间比例一致性问题。在位置和速度状态上设置比例参数,使各智能体在预定时间内快速实现比例一致;选择适当的比例参数,将比例一致性拓展为普通、二分一致性或分群一致性;引入1种内部动态变量,实现事件触发条件的实时变化,以降低系统能量耗散及控制器更新频次。通过代数图论、线性矩阵不等式以及Lyapunov稳定性等理论,证明该策略控制下,二阶多智能体系统能在预定时间内达到比例一致,且动态事件触发时刻可避免Zeno行为。通过一致性控制数值仿真实验,基于收敛速率、系统性能指标对比验证所提策略的有效性和优越性。结果表明:本文策略与固定时间控制策略相比,系统收敛时间易于获取和调节,且实际收敛时间更接近预估值,收敛速率及系统性能指标更优;与静态事件触发控制策略相比,在保证通信系统性能的同时,可有效降低系统通讯能耗。

     

    Abstract: A distributed predefined-time control strategy based on dynamic event-triggered mechanisms was designed using the backward method, to investigate the predefined time proportional consensus problem for general linear second-order multi-agent systems. Proportional parameters were set for the position and velocity states to enable agents to rapidly achieve proportionate consensus within a predefined time. By selecting appropriate proportional parameters, the proportionate consensus can be extended to ordinary, bipartite consensus, or clustered consensus.An internal dynamic variable was introduced to realize real-time variation of the event triggering condition, thereby reducing system energy consumption and control update frequency. Through algebraic graph theory, linear matrix inequalities, and Lyapunov stability theory,it was proven that under this control strategy, the second-order multi-agent system can achieve proportional consensus within the predefined time, and the dynamic event-triggered moments can avoid Zeno behavior.Through numerical simulation experiments of consensus control, the effectiveness and superiority of the proposed strategy were verified by comparing convergence rates and system performance metrics.The results indicate that, compared with fixed-time control strategies, the convergence time of the system with the proposed strategy is easier to obtain and adjust, and the actual convergence time is closer to the estimated value, offering better convergence rates and system performance metrics. Compared with static event-triggered control strategies, the proposed method can effectively reduce system communication energy consumption while maintaining the performance of the communication system.

     

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