摘要
为了解决在不同状态约束下的多智能体系统中达成共识的问题,提出一种新的共识协议,使用事件触发条件和投影算子以减少通信负担,并确保满足状态约束.同时提出一种基于边缘的事件触发机制的自适应分布式控制算法,不使用任何形式的全局拓扑信息和绝对状态信息,代理更新其控制信号并根据相对状态信息检查触发条件.当通信图连接时,使用提出的事件触发控制方法,所有智能体都实现了具有严格正最小事件间隔时间的全局渐近同步.算例验证了算法的有效性.
In order to solve the problem of consensus in multi-agent systems with different state constraints,a new consensus protocol was proposed,which uses event trigger conditions and projection operators to reduce the communication burden and ensure that the state constraints were satisfied.At the same time,an adaptive distributed control algorithm based on edge-based event triggering mechanism was proposed,which didn’t use any form of global topology information and absolute state information,and the agent updated its control signal and checks the trigger conditions according to the relative state information.When the communication graph was connected,all agents achieve global asymptotic synchronization with a strictly positive minimum event interval using the proposed event-triggered control method.The effectiveness of the algorithm was verified by an example.
作者
陈旭
何平
罗萌
吴汉
CHEN Xu;HE Ping;LUO Meng;WU Han(School of Automation and Information Engineering,Sichuan University of Science&Engineering,Yibin,Sichuan 644000,China;Sichuan Provincial Key Laboratory of Artificial Intelligence,Yibin,Sichuan 644000,China)
出处
《宜宾学院学报》
2024年第12期29-37,共9页
Journal of Yibin University
基金
四川省自然科学基金项目(2020YFH0124)。
作者简介
第一作者:陈旭(2000-),男,硕士研究生,研究方向为多智能体系统一致性。
