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Flocking of uncertain nonlinear multi-agent systems via distributed adaptive event-triggered control
Neurocomputing ( IF 6 ) Pub Date : 2021-09-16 , DOI: 10.1016/j.neucom.2021.09.005
Yong Zou 1 , Qing An 2 , Suoxia Miao 1, 3 , Shiming Chen 1 , Xiaoming Wang 1 , Housheng Su 4, 5
Affiliation  

This paper investigates flocking problems with uncertain nonlinear multi-agent systems. Two distributed adaptive event-triggered control algorithms are proposed for leaderless and leader-follower flocking, separately. According to Lyapunov stability theory, under the proposed control protocols, we obtain some sufficient conditions to ensure stable flocking motion and maintain connectivity of network topology. And it is proven that there is a positive lower limit of the interval between any two trigger events, which indicates that the Zeno behavior will not occur. As a result, communication bandwidth resources are effectively saved on the premise of stable flocking. Lastly, numerical simulations are presented to verify the availability of the theoretical results.



中文翻译:

基于分布式自适应事件触发控制的不确定非线性多智能体系统集群

本文研究了不确定非线性多智能体系统的集群问题。分别针对无领导者和领导者-跟随者群集提出了两种分布式自适应事件触发控制算法。根据李雅普诺夫稳定性理论,在所提出的控制协议下,我们获得了一些充分条件,以确保稳定的集群运动并保持网络拓扑的连通性。并且证明任意两个触发事件之间的间隔存在一个正的下限,这表明不会发生Zeno行为。从而在稳定集群的前提下,有效地节省了通信带宽资源。最后,给出了数值模拟来验证理论结果的可用性。

更新日期:2021-09-27
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