Hu Shanyan, Wang Mengling
Key Laboratory of Smart Manufacturing in Energy Chemical Process, Ministry of Education, East China University of Science and Technology, Shanghai 200237, China.
State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China.
Sensors (Basel). 2025 Aug 1;25(15):4760. doi: 10.3390/s25154760.
This paper investigates the tracking consensus of nonlinear multi-agent systems under undirected topology, considering asynchronous switching caused by delays between communication topology switching and controller switching. First, by using the properties of undirected topology graphs, the controller design process is simplified. Then, to address asynchronous delays during topology switching, the system operation is divided into synchronized and delayed modes based on the status of the controller and topology. Every operating mode has a corresponding control strategy. To alleviate the burden of communication and computation, an event-triggered mechanism (ETM) is introduced to reduce the number of controller updates. By constructing an augmented Lyapunov function that incorporates both matching and mismatching periods, sufficient conditions ensuring system stability are established. The required controller based on the dynamic ETM is obtained by solving Linear Matrix Inequalities (LMIs). Finally, a simulation example is conducted to verify its effectiveness.
本文研究了无向拓扑下非线性多智能体系统的跟踪一致性问题，考虑了通信拓扑切换和控制器切换之间的延迟所导致的异步切换。首先，利用无向拓扑图的性质简化了控制器设计过程。然后，为了解决拓扑切换过程中的异步延迟问题，根据控制器和拓扑的状态将系统运行分为同步模式和延迟模式。每种运行模式都有相应的控制策略。为了减轻通信和计算负担，引入了一种事件触发机制（ETM）来减少控制器更新的次数。通过构建一个包含匹配期和失配期的增广李雅普诺夫函数，建立了确保系统稳定性的充分条件。基于动态ETM的所需控制器通过求解线性矩阵不等式（LMI）得到。最后，通过一个仿真实例验证了其有效性。
