分布式事件触发下的多智能体系统二分一致性

兰州理工大学学报 ›› 2024, Vol. 50 ›› Issue (3): 77-83.

• 自动化技术与计算机技术 • 上一篇下一篇

分布式事件触发下的多智能体系统二分一致性

王君^*, 韦娅萍

兰州理工大学电气工程与信息工程学院, 甘肃兰州 730050

收稿日期:2022-04-12 出版日期:2024-06-28 发布日期:2024-07-02
通讯作者: 王君(1973-),女,山东曲阜人,博士,教授.Email:382728645@qq.com
基金资助:
国家自然科学基金(61463030)

Bipartite consensus of multi-agent systems triggered by distributed events

WANG Jun, WEI Ya-ping

College of Electrical and Information Engineering, Lanzhou Univ. of Tech., Lanzhou 730050,China

Received:2022-04-12 Online:2024-06-28 Published:2024-07-02

摘要/Abstract

摘要： 研究了基于分布式事件触发的多智能体控制系统中的二分一致性问题,设计了一种合作和竞争并存拓扑结构的一致性控制协议,使多智能体系统收敛于二模相同且符号不同的状态.在图论与矩阵论的基础上,将多智能体系统的二分一致性问题转化为闭环误差系统的稳定性问题,通过建立一个合适的Lyapunov函数,验证了闭环误差系统渐进稳定,且针对每个智能体提出了事件触发条件,以减少控制更新频率与通信资源的损耗,同时证明每个智能体相邻触发时间间隔都有严格的正下界,即避免了Zeno现象,最后利用仿真实例验证了所提方法的可行性和有效性.

关键词: 多智能体系统, 符号图, 二分一致性, 事件触发

Abstract: This paper deals with the problem of bipartite consistency in multi-agent control systems based on distributed event triggering. A coherent control protocol with a cooperative and competitive topology for achieving consensus among multi-agent systems is proposed, aiming to drive the system to converge to states with binary disagreement yet identical magnitudes. On the basis of graph theory and matrix theory, the problem of binary consensus in multi-agent systems is reformulated into a stability issue for closed-loop error systems. By establishing an appropriate Lyapunov function, the asymptotic stability of the closed-loop error system is validated. Moreover, event-triggering conditions are introduced for each agent to reduce control update frequencies and communication resource consumption. Additionally, it is demonstrated that there exists a strict lower bound for the time intervals between successive triggers for neighboring agents, thereby preventing Zeno phenomena. Finally, through simulation instances, the feasibility and effectiveness of the proposed method are verified.

Key words: multi-agent system, symbol graph, bipartite consensus, event-triggered

中图分类号:

TP273

王君, 韦娅萍. 分布式事件触发下的多智能体系统二分一致性[J]. 兰州理工大学学报, 2024, 50(3): 77-83.

WANG Jun, WEI Ya-ping. Bipartite consensus of multi-agent systems triggered by distributed events[J]. Journal of Lanzhou University of Technology, 2024, 50(3): 77-83.

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分布式事件触发下的多智能体系统二分一致性

Bipartite consensus of multi-agent systems triggered by distributed events

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