论文标题
二阶多代理系统共识的完全分布式事件触发的通信策略
A fully distributed event-triggered communication strategy for second-order multi-agent systems consensus
论文作者
论文摘要
本文研究了具有非线性动力学的二阶多代理系统的通信策略。为了节省通信渠道的稀缺资源，设计了一种新颖的事件触发的通信机制，而无需在关注者之间使用连续信号。为了根据Laplacian矩阵的频谱清除集中式信息，提出了具有更新的耦合增益的共识协议，并提出了与更新的阈值相互交流的事件触发策略。为了最大程度地减少噪声的影响，协议中仅采用了代理之间的相对位置。通过提出的事件触发的机制和控制协议，在数学上证明了质量的领导者遵守质量共识和不包括zeno行为。结果通过数值示例验证。
This paper investigates the communication strategy for second-order multi-agent systems with nonlinear dynamics. To save the scarce resources of communication channels, a novel event-triggered communication mechanism is designed without using continuous signals among the followers. To get rid of the centralized information depending on the spectrum of the Laplacian matrix, a consensus protocol with updated coupling gains and an event-triggered strategy of interagent communication with updated thresholds are presented. To minimize the impacts of noise, only relative positions among agents are employed in the protocol. With the proposed event-triggered mechanism and the control protocol, the leader-following consensus of MASs and no Zeno behavior included are mathematically proven. The results are verified through numerical examples.
