|
|
Frontiers of Information Technology & Electronic Engineering
ISSN 2095-9184 (print), ISSN 2095-9230 (online)
2021 Vol.22 No.1 P.107-119
Containment control for heterogeneous nonlinear multi-agent systems under distributed event-triggered schemes
Abstract: We study the containment control problem for high-order heterogeneous nonlinear multi-agent systems under distributed event-triggered schemes. To achieve the containment control objective and reduce communication consumption among agents, a distributed event-triggered control scheme is proposed by applying the backstepping method, Lyapunov functional approach, and neural networks. Then, the results are extended to the self-triggered control case to avoid continuous monitoring of state errors. The developed protocols and triggered rules ensure that the output for each follower converges to the convex hull spanned by multi-leader signals within a bounded error. In addition, no agent exhibits Zeno behavior. Two numerical simulations are finally presented to verify the correctness of the obtained results.
Key words: Multi-agent systems, Distributed event-triggered control, Containment control, Heterogeneous nonlinear systems, Zeno behavior
孙雅妮，邹文成，郭健，向峥嵘
南京理工大学自动化学院，中国南京市，210094
摘要：研究分布式事件触发策略下高阶异构非线性多智能体系统包含控制问题。为实现包含控制目标并减少智能体间的通讯损耗，采用反推控制法、李雅普诺夫函数分析法和神经网络，提出一种分布式事件触发控制策略。为避免对状态误差的连续监测，将事件触发情形的结论推广到自触发控制情形。所提控制协议和触发规则确保每个智能体的输出能在一定误差范围内收敛到有多个领导者信号组成的凸包中。此外，所有智能体都不会发生Zeno现象。最后，通过两个数值仿真案例证明所得结论的正确性。
关键词组：
References:
Open peer comments: Debate/Discuss/Question/Opinion
<1>
DOI:
10.1631/FITEE.2000034
CLC number:
TP13
Download Full Text:
Downloaded:
6574
Download summary:
<Click Here>Downloaded:
1509Clicked:
4716
Cited:
0
On-line Access:
2021-01-11
Received:
2020-01-18
Revision Accepted:
2020-08-05
Crosschecked:
2020-09-11