|
|
Pure Mathematics 2020
基于事件的具有时变时滞多智能体系统的平均一致性
|
Abstract:
本文采用周期采样和事件控制的方法对具有时变通信时滞的一阶多智能体系统的事件触发平均一致性问题进行了时滞鲁棒性分析。通过设计一致性协议及事件触发条件，使得所有智能体能够在较低的通信频率下实现一致性。利用李雅普诺夫稳定性理论证明了多智能体系统的平均一致性能够实现，所得结果改进了已有的研究成果。最后，通过数值模拟说明所获得的理论结果的有效性。
In this paper, the method of periodic sampling and event control is used to analyze the delay ro-bustness of the event-triggered average consensus problem for first-order multi-agent systems with time-varying communication delays. By designing consensus protocol and event-triggering conditions, all agents can achieve consensus under lower communication frequency. By using Lyapunov stability theory, it is proved that average consensus of multi-agent systems can be achieved and the obtained results improve the existing ones. Finally, the validity of the theoretical results is illustrated by numerical simulations.
| [1] | 许文盈, 曹进德. 基于事件触发机制的多智能体系统协调控制研究综述[J]. 南京信息工程大学学报, 2018, 10(4): 395-400. |
| [2] | 徐鹏, 谢广明, 文家燕, 高远. 事件触发的强化学习多智能体编队控制[J]. 智能系统学报, 2019, 14(1): 93-98. |
| [3] | Chen, J., Cao, X. and Cheng, P. (2010) Distributed Collaborative Control for Industrial Automation with Wireless Sensor and Actuator Networks. IEEE Transactions on Industrial Electronics, 57, 4219-4230. https://doi.org/10.1109/TIE.2010.2043038 |
| [4] | Wang, X. and Yadav, V. (2007) Cooperative UAV Formation Flying with Obstacle Avoidance. IEEE Transactions on Control Systems Technology, 15, 672-679. https://doi.org/10.1109/TCST.2007.899191 |
| [5] | Lin, W. (2014) Distributed UAV Formation Control Using Dif-ferential Game Approach. Aerospace Science and Technology, 35, 54-62. https://doi.org/10.1016/j.ast.2014.02.004 |
| [6] | Savkin, A.V., Wang, C. and Baranzadeh, A. (2016) Distributed Formation Building Algorithms for Groups of Wheeled Mobile Robots. Robotics and Autonomous Systems, 75, 464-474. https://doi.org/10.1016/j.robot.2015.08.006 |
| [7] | Dimos, V.D. and Karl, H.J. (2009) Event-Triggered Control for Multi-Agent Systems. 48th IEEE Conference on Decision and Control and 28th Chinese Control Conference, Shanghai, December 2009, 7131-7136. |
| [8] | Georg, S.S., Dimos, V.D. and Karl, H.J. (2013) Event-Based Broadcasting for Multi-Agent Average Consensus. Automatica, 49, 245-252. https://doi.org/10.1016/j.automatica.2012.08.042 |
| [9] | Fan, Y., Feng, G., Wang, Y. and Song, C. (2013) Distrib-uted Event-Triggered Control of Multi-Agent Systems with Combinational Measurements. Automatica, 49, 671-675. https://doi.org/10.1016/j.automatica.2012.11.010 |
| [10] | Nowzari, C. and Cortes, J. (2014) Zeno-Free, Distributed Event-Triggered Communication and Control for Multi-Agent Average Consensus. American Control Conference (ACC), Portland, 4-6 June 2014, 2148-2153. https://doi.org/10.1109/ACC.2014.6859495 |
| [11] | 王航飞, 禹梅, 谢广明, 石红. 基于事件触发的环形编队多智能体系统[J]. 系统科学与数学, 2014, 34(7): 815-827. |
| [12] | 张志强, 王龙. 多智能体系统的事件触发控制[J]. 控制理论与应用, 2018, 35(8): 1051-1065. |
| [13] | Meng, X., Xie, L., Soh, Y., Nowzari, C. and Pappas, G. (2015) Periodic Event-Triggered Average Consensus over Directed Graphs. Proceedings of the IEEE 54th Annual Conference on Decision and Control, Osaka, 15-18 December 2015, 4151-4156. https://doi.org/10.1109/CDC.2015.7402866 |
| [14] | Meng, X. and Chen, T. (2013) Event Based Agreement Protocols for Multi-Agent Networks. Automatica, 49, 2125- 2132. https://doi.org/10.1016/j.automatica.2013.03.002 |
| [15] | Fan, Y., Yang, Y. and Zhang, Y. (2016) Sampling-Based Event-Triggered Consensus for Multi-Agent Systems. Neurocomputing, 191, 141-147. https://doi.org/10.1016/j.neucom.2015.12.102 |
| [16] | Wang, A. (2016) Event-Based Consensus Control for Single-Integrator Networks with Communication Time-Delays. Neurocomputing, 173, 1715-1719. https://doi.org/10.1016/j.neucom.2015.09.044 |
| [17] | Liu, K. and Ji, Z. (2017) Consensus of Multi-Agent Systems with Time-Delay Based on Periodic Sample and Event Hybrid Control. Neurocomputing, 270, 11-17. https://doi.org/10.1016/j.neucom.2016.12.106 |
| [18] | 谢媛艳, 王毅, 马忠军. 领导-跟随多智能体系统的滞后一致性[J]. 物理学报, 2014, 63(4): 17-21. |
| [19] | Wang, A. (2016) Event-Triggered Consensus Control for Lead-er-Following Multi-Agent Systems with Time-Varying Delays. Journal of the Franklin Institute, 353, 4754-4771. https://doi.org/10.1016/j.jfranklin.2016.08.027 |
| [20] | Olfati-Saber, R. and Murray, R.M. (2004) Consensus Prob-lems in Networks of Agents with Switching Topology and Time-Delays. IEEE Transactions Automatic Control, 49, l520-l533. https://doi.org/10.1109/TAC.2004.834113 |
