IEEE Trans Cybern. 2018 Jun;48(6):1888-1897. doi: 10.1109/TCYB.2017.2716970. Epub 2017 Jul 4.
This paper is concerned with leader-following consensus of second-order multiagent systems with nonlinear dynamics. First, to save the limited communication resources, a new event-triggered control protocol is delicately developed without requiring continuous communication among the follower agents. Then, by employing the Lyapunov functional method and the Kronecker product technique, a novel sufficient criterion with less conservation is derived to guarantee the leader-following consensus while excluding the Zeno behavior. Furthermore, for the first time, an algorithm to actively adjust the leader adjacency matrix is presented, which efficiently expands the application range of some existing criteria. An example is finally given to illustrate the effectiveness of theoretical results.
这篇论文研究了具有非线性动态的二阶多智能体系统的领导者跟随一致性问题。首先，为了节省有限的通信资源，精心设计了一种新的事件触发控制协议，而无需跟随智能体之间的连续通信。然后，利用李雅普诺夫泛函方法和克罗内克积技术，推导出一个新的、具有较少保守性的充分准则，以保证领导者跟随一致性，同时排除零和行为。此外，首次提出了一种主动调整领导者邻接矩阵的算法，有效地扩展了一些现有准则的应用范围。最后，通过一个实例说明了理论结果的有效性。
