Yang Yang, Li Yanfei, Yue Dong, Yue Wenbin
IEEE Trans Cybern. 2020 Dec;50(12):5010-5020. doi: 10.1109/TCYB.2019.2900266. Epub 2020 Dec 3.
This paper addresses an adaptive event-triggered consensus control problem for a class of second-order nonlinear multiagent systems (MASs) in an undirected communication topology. A novel adaptive distributed event-triggered consensus control scheme is presented for the MAS with unknown functions based on the definition of an auxiliary state, and the coefficient of the triggered function can be regulated adaptively with dependence on the auxiliary state error to ensure not only the control performance but also the efficiency of the network interactions. Furthermore, two self-triggered algorithms are developed for two cases, known functions and unknown ones, by the current state and information at the previous event time instant instead of the requirement for continuous monitoring auxiliary state errors. In theory, the stability of the resulting closed-loop system is rigorously investigated, and it is proven that all signals in the closed-loop system are bounded and the Zeno behavior is ruled out. Finally, two simulation examples, both real-time and numerical ones, are provided to verify the theoretical claims.
本文研究了一类在无向通信拓扑结构下的二阶非线性多智能体系统（MASs）的自适应事件触发一致性控制问题。基于辅助状态的定义，针对具有未知函数的MAS提出了一种新颖的自适应分布式事件触发一致性控制方案，触发函数的系数可以根据辅助状态误差进行自适应调节，以确保控制性能和网络交互效率。此外，针对已知函数和未知函数两种情况，利用当前状态和上一事件时刻的信息，开发了两种自触发算法，无需持续监测辅助状态误差。理论上，对所得闭环系统的稳定性进行了严格研究，证明了闭环系统中的所有信号都是有界的，并且排除了芝诺行为。最后，给出了两个实时和数值仿真例子，以验证理论结论。
