Zhou Dongpeng, Chen Wu-Hua, Lu Xiaomei
IEEE Trans Cybern. 2025 Jan;55(1):161-171. doi: 10.1109/TCYB.2024.3472703. Epub 2024 Dec 19.
This article studies the leader-following consensus problem for a class of linear multiagent systems over a directed graph with aperiodically sampled outputs. First, a novel distributed impulsive-observer-based consensus protocol is designed. This protocol requires only the output measurements at sporadic time instants for the observer and control gain design. Second, by using time-varying Lyapunov function techniques, sufficient conditions for exponential stability of a class of linear impulsive systems are established; subsequently, these stability results are applied for the distributed impulsive observer design. Different from the existing related works, the impulsive observer gain designed in this work is decoupled from the graph properties. As a result, once the impulsive observer gain is designed for one network topology, it can be directly used for other network topologies, as long as the graph properties and the dynamics of local agents satisfy certain conditions. Furthermore, the resilience of the designed protocol is tested under denial of service (DoS) attacks. It is shown that the protocol is robust with respect to low-frequency DoS attacks occurring in the observer communication network. Finally, two examples illustrating the validity and effectiveness of the proposed protocol are included.
本文研究了一类具有非周期采样输出的有向图上线性多智能体系统的 leader-following 一致性问题。首先，设计了一种基于分布式脉冲观测器的新型一致性协议。该协议在设计观测器和控制增益时仅需要在离散时刻的输出测量值。其次，通过使用时变李雅普诺夫函数技术，建立了一类线性脉冲系统指数稳定的充分条件；随后，将这些稳定性结果应用于分布式脉冲观测器设计。与现有的相关工作不同，本文设计的脉冲观测器增益与图的性质解耦。因此，一旦为一种网络拓扑设计了脉冲观测器增益，只要图的性质和局部智能体的动态满足某些条件，就可以直接用于其他网络拓扑。此外，在拒绝服务（DoS）攻击下测试了所设计协议的弹性。结果表明，该协议对于观测器通信网络中发生的低频 DoS 攻击具有鲁棒性。最后，给出了两个例子来说明所提协议的有效性和实用性。
