Robust Distributed Average Tracking for Double-Integrator Agents Without Velocity Measurements Under Event-Triggered Communication
Robust Distributed Average Tracking for Double-Integrator Agents Without Velocity Measurements Under Event-Triggered Communication
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DOI：
10.1109/tcns.2020.3038844
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发表时间：
2021-06
影响因子：
4.2
通讯作者：
Yong Ding;W. Ren;Yu Zhao
中科院分区：
文献类型：
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作者：
Yong Ding;W. Ren;Yu Zhao
本文重点介绍了一种事件触发机制，以解决分布式平均跟踪问题的双积分代理没有速度测量。在一些实际应用中，由于技术和空间的限制，速度测量可能无法获得，并且通常精度较低且实施成本较高。在推导事件触发方法之前，我们首先提出了一个不使用速度测量的基本算法，这为事件触发算法的发展奠定了基础。基本算法的优点是在这个意义上，有没有全局信息的参数设计的要求，现有的相关作品。在基本算法的基础上，我们提出了一个事件触发的算法，进一步消除了连续通信的要求，是免费的芝诺行为。它适合于实际实现，因为在现实中，通信网络的带宽和功率容量通常是受约束的。事件触发算法通过构造一种新的触发策略，克服了自适应增益的无限增长和需要额外的内部动态特性等实际问题。此外，为了减少实际中的抖振现象，采用连续非线性函数来逼近符号函数。数值模拟来说明所得到的结果。
This article focuses on an event-triggered mechanism to solve the distributed average tracking problem for double-integrator agents without velocity measurements. In some practical applications, velocity measurements may be unavailable due to technology and space limitations, and it is also usually less accurate and more expensive to implement. Before deriving the event-triggered approach, we first present a base algorithm without using velocity measurements, which sets the stage for the development of the event-triggered algorithm. The base algorithm has an advantage over the existing related works in the sense that there is no global information requirement for parameter design. Building on the base algorithm, we present an event-triggered algorithm that further removes the continuous communication requirement and is free of Zeno behavior. It is suitable for practical implementation, since in reality, the bandwidth of the communication network and power capacity are usually constrained. The event-triggered algorithm overcomes some practical limitations, such as the unbounded growth of the adaptive gain and requirement of additional internal dynamics, by constructing a new triggering strategy. In addition, a continuous nonlinear function is used to approximate the signum function to reduce the chattering phenomenon in reality. Numerical simulations are provided to illustrate the obtained results.