Zhao Yanjun, Sun Haibin, Wang Xiangyu, Yang Dong, Jiao Ticao
School of Engineering, Qufu Normal University, Rizhao 276826, Shandong, PR China.
School of Engineering, Qufu Normal University, Rizhao 276826, Shandong, PR China.
Neural Netw. 2025 Jan;181:106808. doi: 10.1016/j.neunet.2024.106808. Epub 2024 Oct 19.
This article analyses leader-following bipartite consensus for one-sided Lipschitz multi-agent systems by dual-terminal event-triggered output feedback control approach. A distributed observer is designed to estimate unknown system states by employing relative output information at triggering time instants, and then an event-triggered output feedback controller is proposed. Dual-terminal dynamic event-triggered mechanisms are proposed in sensor-observer channel and controller-actuator channel, which can save communication resources to a great extent, and the Zeno behavior is ruled out. A new generalized one-sided Lipschitz condition is proposed to handle the nonlinear term and achieve bipartite consensus. Some stability conditions are presented to guarantee leader-following bipartite consensus. Finally, one-link robot manipulator systems are introduced to demonstrate the availability of the designed scheme. The results demonstrate that the agents of the robot manipulators can track the reference trajectories bi-directionally, and effectively reduce communication resources by 61.22% and 68.04% at the sensor-observer and controller-actuator channels, respectively.
本文采用双端事件触发输出反馈控制方法，分析了单边Lipschitz多智能体系统的领导者-跟随者二分一致性问题。设计了一种分布式观测器，通过在触发时刻利用相对输出信息来估计未知系统状态，进而提出了一种事件触发输出反馈控制器。在传感器-观测器通道和控制器-执行器通道中提出了双端动态事件触发机制，这可以在很大程度上节省通信资源，并排除芝诺行为。提出了一种新的广义单边Lipschitz条件来处理非线性项并实现二分一致性。给出了一些稳定性条件以保证领导者-跟随者二分一致性。最后，引入单连杆机器人机械臂系统来验证所设计方案的有效性。结果表明，机器人机械臂的智能体能够双向跟踪参考轨迹，并且在传感器-观测器通道和控制器-执行器通道分别有效减少了61.22%和68.04%的通信资源。
