二阶线性多智能体系统动态事件触发实际固定时间一致性

Dynamic event-triggered practical fixed-time consensus for second-order linear multi-agent systems

摘要

针对二阶线性多智能体系统事件触发实际固定时间一致性中多采用静态触发条件,存在触发次数过多、系统能耗较高的问题,提出2种动态事件触发实际固定时间一致性控制协议。基于跟踪误差、包含双曲正切函数的控制器提出连续通信一致性控制协议,在事件触发条件中引入受智能体相对状态实时调整的内部动态变量,实时调整智能体的触发阈值。利用智能体触发时刻的信息提出间歇通信一致性控制协议,避免智能体间的连续通信。验证了在2种控制协议下,系统都能够实现实际固定时间一致性,且避免了收敛时间受限于智能体初始状态的问题及Zeno行为。仿真结果表明,相较于现有静态事件触发方案,所提动态事件触发方案减少了智能体的触发次数,从而减少系统能量损耗,更适用于通信计算资源有限的实际系统。

Abstract

Aiming at the problem that the second-order linear multi-agent systems event-triggered actual fixed-time consensus mostly adopts static triggering conditions, with too many triggering times and high system energy consumption, two dynamic event-triggered actual fixed-time consensus control protocols are proposed. Based on the controller with tracking error and hyperbolic tangent function, a continuous communication consensus control protocol is proposed. The internal dynamic variables adjusted by the relative state of the agent in real time are introduced in the event triggering condition, and the trigger threshold of the agent is adjusted in real time. The intermittent communication consensus control protocol uses the information of the agent trigger time to avoid continuous communication between agents. It is verified that under the two control protocols, the system can achieve the actual fixed-time consistency, and avoid the problems that the convergence time is limited by the initial state of the agent and the Zeno behavior. The simulation results show that compared with the existing static event-triggered scheme, the proposed dynamic event-triggered scheme reduces the number of triggers of the agent, thereby reducing the energy loss of the system, and is more suitable for the actual system with limited communication computing resources.

关键词

二阶线性多智能体系统 / 动态事件触发 / 触发阈值 / 初始状态 / 实际固定时间一致性

Key words

second-order linear multi-agent system / dynamic event trigger / trigger threshold / starting state / practical fixed-time consensus

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基金资助

国家自然科学基金资助项目(61663020)

甘肃省高等学校产业支撑计划资助项目(2022CYZC-33)