School of Information Science and Engineering, Northeastern University, Shenyang 110819, China.
ISA Trans. 2019 Sep;92:14-22. doi: 10.1016/j.isatra.2019.02.020. Epub 2019 Feb 25.
In this paper, the bipartite output consensus problem of heterogeneous linear multi-agent systems (HL-MASs) is investigated. Compared with related works, both the cooperative interactions and antagonistic interactions between agents exist. First, a novel distributed dynamic triggering observer is designed to recover the leader's state. In order to avoid verifying the dynamic triggering condition continuously, a monitoring scheme is proposed. Then, the communication cost can be reduced. Next, we solve the bipartite output consensus problem of HL-MASs by both state feedback and output feedback control laws. Moreover, detailed analysis on the dynamic event triggering condition is conducted. It is shown that the lower bound of inter-execution time is larger than zero, so Zeno behaviour is excluded. The choice of parameters involved in the dynamic event triggering condition is also analysed. Finally, examples are given for demonstration.
本文研究了异构线性多智能体系统（HL-MASs）的双边输出一致性问题。与相关工作相比，代理之间既存在合作交互，也存在对抗交互。首先，设计了一种新的分布式动态触发观测器来恢复领导者的状态。为了避免连续验证动态触发条件，提出了一种监测方案。然后，可以降低通信成本。接下来，我们通过状态反馈和输出反馈控制律来解决 HL-MASs 的双边输出一致性问题。此外，还对动态事件触发条件进行了详细分析。结果表明，执行时间间隔的下界大于零，因此排除了 Zeno 行为。还分析了动态事件触发条件中涉及的参数选择。最后，给出了示例以进行说明。
