Li Yafeng, Liu Lu, Hua Changchun, Feng Gang
IEEE Trans Cybern. 2021 Jun;51(6):2969-2978. doi: 10.1109/TCYB.2019.2936413. Epub 2021 May 18.
In this article, the event-triggered and self-triggered leader-following output-feedback control problems are investigated for a class of high-order stochastic nonlinear multiagent systems (MASs) under an undirected graph. First, using the high-gain method, the observer is designed to estimate the unmeasured state variables of the given nonlinear system. Then, by introducing an internal dynamic variable, a distributed Zeno-free dynamic event-triggered controller is constructed. Compared with the static event-triggering results, the interevent time of the proposed dynamic event-triggering mechanism is shown to be prolonged and, thus, the advantages of the event-triggered control approaches can be enhanced. Further, to avoid continuously monitoring the states, a Zeno-free self-triggering mechanism is given. It is shown that the expectations of the output tracking errors converge to an arbitrarily small set if the diffusion terms are different for all agents, and that the expectations of all state tracking errors converge to an arbitrarily small set if the diffusion terms are the same for all agents. Finally, simulation studies are given to illustrate the effectiveness of the proposed methods.
本文研究了一类在无向图下的高阶随机非线性多智能体系统（MASs）的事件触发和自触发领导者跟随输出反馈控制问题。首先，利用高增益方法设计观测器，以估计给定非线性系统中不可测量的状态变量。然后，通过引入一个内部动态变量，构造了一种分布式无芝诺动态事件触发控制器。与静态事件触发结果相比，所提出的动态事件触发机制的事件间时间被延长，从而增强了事件触发控制方法的优势。此外，为了避免持续监测状态，给出了一种无芝诺自触发机制。结果表明，如果所有智能体的扩散项不同，输出跟踪误差的期望收敛到任意小的集合；如果所有智能体的扩散项相同，所有状态跟踪误差的期望收敛到任意小的集合。最后，通过仿真研究来说明所提方法的有效性。
