ABSTRACT

This paper considers the mean-square leader-following consensus problem for heterogeneous multi-agent systems (MASs) affected by noises. Because only the output signal of a leader can be measured, a distributed dynamic control driven by an event-triggered mechanism (ETM) is proposed. The proposed ETM can reduce the signal transmission amount from sampler to controller. Using the tine-delay model method, the system under the proposed controller can be modelled as a stochastic time-delay system. Then the time-varying Hanaly inequality is utilised to obtain sufficient conditions that guarantee the consensus of MASs. Further, the quantity-based event-triggered mechanism is proposed to reduce the amount of traffic. Finally, an example is given to illustrate the validity of the obtained results.

摘要

本文考虑了受噪声影响的异构多智能体系统 (MAS) 的均方领导者跟随共识问题。由于只能测量领导者的输出信号，因此提出了一种由事件触发机制（ETM）驱动的分布式动态控制。提出的 ETM 可以减少从采样器到控制器的信号传输量。使用 tine-delay 模型方法，所提出的控制器下的系统可以建模为随机时滞系统。然后利用随时间变化的 Hanaly 不等式来获得保证 MAS 共识的充分条件。此外，提出了基于数量的事件触发机制来减少流量。最后给出一个例子来说明所得结果的有效性。