IEEE Trans Cybern. 2019 Jun;49(6):2002-2010. doi: 10.1109/TCYB.2018.2813423. Epub 2018 Mar 22.
This paper investigates the event-based leader-following consensus problem for high-order nonlinear multiagent systems whose dynamics are in strict feedback forms and satisfy Lipschitz condition. By using self-triggered control scheme and dynamic output feedback control method in combination, a new class of distributed self-triggered consensus protocols is proposed based only on the relative output measurements of neighboring agents. It is noted that the proposed protocols only require the output information of neighboring agents to be shared and the designed self-triggered algorithm can avoid continuous communication among neighboring agents, thus the communication cost is reduced significantly. Sufficient conditions in terms of matrix inequalities are derived to guarantee the exponential leader-following consensus. The effectiveness of the theoretical results is illustrated through a simulation example.
本文研究了高阶非线性多智能体系统的基于事件的领导跟随一致性问题，其动力学形式为严格反馈且满足 Lipschitz 条件。通过将自触发控制方案和动态输出反馈控制方法相结合，提出了一种新的分布式自触发一致性协议类，该协议仅基于邻居代理的相对输出测量。需要注意的是，所提出的协议仅要求共享邻居代理的输出信息，并且所设计的自触发算法可以避免邻居代理之间的连续通信，从而大大降低了通信成本。基于矩阵不等式的充分条件被推导出来以保证指数级的领导跟随一致性。通过一个仿真示例验证了理论结果的有效性。
