Decentralized event-triggered cooperative control for multi-agent systems with uncertain dynamics using local estimators
Decentralized event-triggered cooperative control for multi-agent systems with uncertain dynamics using local estimators
复制标题
使用局部估计器对具有不确定动态的多智能体系统进行分散事件触发协作控制
DOI：
10.1016/j.neucom.2017.01.029
复制
发表时间：
2017
期刊：
影响因子：
6
通讯作者：
Jun Peng
中科院分区：
文献类型：
--
作者：
Feng Zhou;Zhiwu Huang;Yingze Yang;Jing Wang;Liran Li;Jun Peng
本文提出了一种针对有限通信资源下的不确定多智能体系统的分散事件触发协同控制设计。每个代理使用局部估计器来生成自状态估计。估计状态直接用于一致性控制设计，估计器参数用于事件条件设计。一旦事件被触发，局部估计器就会被重复重置为其相应的真实状态值，从而在不知道确切的系统模型参数的情况下稳定不确定的动力系统。通过利用 M 矩阵、代数图论和 Lyapunov 方法，开发了该触发条件的定理，以提供对模型不确定性具有鲁棒性的稳定阈值并保证渐近稳定性。严格证明，在引入的触发条件下，整个系统将达成共识并且不存在芝诺行为。仿真结果显示了所提出的分散事件触发协作控制策略的有效性。
This paper presents a decentralized event triggered cooperative control design for uncertain multi-agent systems under limited communication resources. A local estimator is employed by each agent to generate self-state estimates. The estimated states are directly used in the consensus control design, and the estimator parameters are used in the event condition design. Once an event is triggered, the local estimator is repeatedly reset to its corresponding real state values, such that it can stabilize the uncertain dynamical systems without knowing the exact system model parameters. A theorem for this triggering condition is developed to provide stable thresholds that are robust to model uncertainties and guarantee the asymptotical stability by exploiting the M-matrix, algebraic graph theory and the Lyapunov method. It is rigorously proved that the overall system will achieve the consensus and has no zeno behavior under the introduced triggering condition. Simulation results are provided to show the effectiveness of the proposed decentralized event-triggered cooperative control strategy.