ABSTRACT

This paper describes a solution to the problem of consensus/synchronisation for a general class of networked nonlinear multi-agent systems (MAS) using a distributed control strategy with an event-triggered communications (ETC) mechanism. We consider the case where the dynamics of each agent contain linear and Lipschitz nonlinear terms and the underlying communication graph is directed. The strategy proposed has two important properties: (i) it achieves practical consensus, i.e. the synchronisation error that measures the disagreement among the agents' states converges to a ball centred at the origin, with a radius that can be made arbitrarily small and (ii) the minimum of the inter-event times for each agent is lower bounded by a strictly positive number, hence Zeno behaviour is excluded. Furthermore, it affords system designers adequate tools to trade off the frequency of communications among agents against the level of performance achieved in MAS consensus/synchronisation. Numerical simulation results are also given.

摘要

本文描述了使用具有事件触发通信 (ETC) 机制的分布式控制策略来解决一般网络非线性多代理系统 (MAS) 共识/同步问题的解决方案。我们考虑每个代理的动态包含线性和 Lipschitz 非线性项并且底层通信图是有向的情况。所提出的策略有两个重要的特性：（i）它实现了实际的共识，即衡量代理状态之间分歧的同步误差收敛到一个以原点为中心的球，半径可以任意小，并且（ii ) 每个智能体的最小事件间时间的下限为严格的正数，因此芝诺行为被排除在外。此外，它为系统设计人员提供了足够的工具来权衡代理之间的通信频率与 MAS 共识/同步中实现的性能水平。还给出了数值模拟结果。