He Wangli, Xu Bin, Han Qing-Long, Qian Feng
IEEE Trans Cybern. 2020 Jul;50(7):2996-3008. doi: 10.1109/TCYB.2019.2920093. Epub 2019 Jun 14.
This paper is concerned with event-triggered consensus of general linear multiagent systems (MASs) in leaderless and leader-following networks, respectively, in the framework of adaptive control. A distributed dynamic event-triggered strategy is first proposed, in which an auxiliary parameter is introduced for each agent to regulate its threshold dynamically. The time-varying threshold ensures less triggering instants, compared with the traditional static one. Then under the proposed event-triggered strategy, a distributed adaptive consensus protocol is formed including the updating law of the coupling strength for each agent. Some criteria are derived to guarantee leaderless or leader-following consensus for MASs with general linear dynamics, respectively. Moreover, it is proved that the triggering time sequences do not exhibit Zeno behavior. Finally, the effectiveness of the proposed dynamic event-triggered control mechanism combined with adaptive control is validated by two examples.
本文分别研究了在自适应控制框架下，无领导网络和有领导跟随网络中一般线性多智能体系统（MASs）的事件触发一致性问题。首先提出了一种分布式动态事件触发策略，其中为每个智能体引入一个辅助参数来动态调节其阈值。与传统的静态阈值相比，时变阈值确保了更少的触发时刻。然后，在所提出的事件触发策略下，形成了一种分布式自适应一致性协议，包括每个智能体耦合强度的更新律。分别推导了一些准则，以保证具有一般线性动力学的MASs实现无领导或有领导跟随的一致性。此外，证明了触发时间序列不会出现芝诺行为。最后，通过两个例子验证了所提出的动态事件触发控制机制与自适应控制相结合的有效性。
