Yao Deyin, Li Hongyi, Lu Renquan, Shi Yang
IEEE Trans Cybern. 2020 Sep;50(9):3892-3902. doi: 10.1109/TCYB.2019.2963087. Epub 2020 Jan 23.
The event-triggered tracking control problem of second-order multiagent systems in consideration of system nonlinearities is investigated by utilizing the distributed sliding-mode control (SMC) approach. An event-triggered strategy is proposed to decrease the controller sampling frequency and save the network communication resources; the triggering condition is then established for leader-following multiagent systems. In this article, by utilizing the distributed event-based sliding-mode controller, the system state of second-order multiagent systems with system nonlinearities is capable of approaching the integral sliding-mode surface in finite time. A novel integral sliding-mode surface is constructed in this article to guarantee the consensus tracking performance in the existence of system nonlinearities as the state trajectories of second-order integrator systems move on the constructed sliding manifold. By employing the Lyapunov approach, sufficient conditions are deduced to ensure that the consensus tracking performance is obtained for the closed-loop system. Furthermore, it is presented that the triggering scheme can effectively reduce state updates and eliminate the Zeno behavior. A simulation example is provided to testify the validity of our proposed methodology.
利用分布式滑模控制（SMC）方法，研究了考虑系统非线性的二阶多智能体系统的事件触发跟踪控制问题。提出了一种事件触发策略以降低控制器采样频率并节省网络通信资源；然后为领导者-跟随者多智能体系统建立了触发条件。在本文中，通过使用基于分布式事件的滑模控制器，具有系统非线性的二阶多智能体系统的系统状态能够在有限时间内趋近积分滑模面。本文构造了一种新颖的积分滑模面，以确保在系统非线性存在的情况下，当二阶积分器系统的状态轨迹在构造的滑动流形上移动时，实现一致性跟踪性能。通过采用李雅普诺夫方法，推导了充分条件以确保闭环系统获得一致性跟踪性能。此外，结果表明所提出的触发方案可以有效地减少状态更新并消除芝诺行为。提供了一个仿真例子来验证所提方法的有效性。
