ABSTRACT

This paper investigates a problem on event-triggered bounded consensus control for a stochastic multi-agent system with communication delay, process and measurement noises. First, according to Kalman filtering theory, the optimal state estimation of each agent is obtained and sent to its neighbour agents through the undirected network topology. Correspondingly, an event-triggered controller related to the communication delay is proposed to reduce update frequency of the controller effectively. Then, the feedback gain and triggering parameters are co-designed and solved through linear matrix inequality. Relational conclusions for bounded consensus in mean square are established for fixed and time-varying communication delays, respectively. Finally, the effectiveness of the presented results are illustrated through a simulation example.

摘要

本文研究了具有通信延迟、过程和测量噪声的随机多智能体系统的事件触发有界共识控制问题。首先，根据卡尔曼滤波理论，得到每个智能体的最优状态估计，并通过无向网络拓扑发送给它的邻居智能体。相应地，提出了一种与通信延迟相关的事件触发控制器，以有效降低控制器的更新频率。然后，通过线性矩阵不等式共同设计和求解反馈增益和触发参数。分别为固定和时变通信延迟建立了均方有界共识的关系结论。最后，通过一个仿真例子说明了所提出结果的有效性。