Wang Dong, Wang Zidong, Wang Zehua, Wang Wei
IEEE Trans Cybern. 2021 Oct;51(10):4885-4896. doi: 10.1109/TCYB.2020.3007500. Epub 2021 Oct 12.
This article is concerned with the containment control problem for a class of multiagent systems (MASs) based on event-triggered output feedback. For homogeneous MASs, a distributed observer-based containment control protocol and a distributed hybrid event-triggered scheme are proposed. The observers, containment controllers, and event-triggered conditions are designed simultaneously by means of the matrix transformation technique. The proposed event-triggered mechanism includes not only the traditional triggering function but also a running time upper bound, which saves the communication workload and improves system performance. Furthermore, based on the output regulation framework, a hybrid distributed event-triggered scheme and a distributed containment control protocol for heterogeneous MASs are developed, where the dynamics of the followers vary. Multiply unmanned aerial vehicles are modeled as a linear MAS to verify the effectiveness of the presented algorithm.
本文研究了基于事件触发输出反馈的一类多智能体系统（MASs）的包容控制问题。对于齐次MASs，提出了一种基于分布式观测器的包容控制协议和一种分布式混合事件触发方案。通过矩阵变换技术同时设计观测器、包容控制器和事件触发条件。所提出的事件触发机制不仅包括传统的触发函数，还包括运行时间上界，这节省了通信工作量并提高了系统性能。此外，基于输出调节框架，针对异构MASs开发了一种混合分布式事件触发方案和一种分布式包容控制协议，其中跟随者的动态特性有所不同。将多个无人机建模为线性MAS以验证所提算法的有效性。
