Leader–Follower Consensus of Multiagent Systems With Energy Constraints: A Markovian System Approach
Leader–Follower Consensus of Multiagent Systems With Energy Constraints: A Markovian System Approach
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DOI：
10.1109/tsmc.2017.2677471
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发表时间：
2017-03
期刊：
影响因子：
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通讯作者：
Dan Zhang;Zhenhua Xu;D. Srinivasan;Li Yu
中科院分区：
文献类型：
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作者：
Dan Zhang;Zhenhua Xu;D. Srinivasan;Li Yu
本文研究了具有无线通信的多智能体系统中领导者-跟随者的一致性问题，主要目标是降低系统的功耗。首先，通过假设采样周期从一个跳到另一个只从一个给定的集合，一个新的随机采样方法被引入到减少每个代理的采样频率。然后，仅选择1-D的采样数据，并将其传输到其相邻代理。最后，每个代理被安排为间歇地与其他代理通信。提出了一种统一的马尔可夫系统模型来描述上述随机采样、测量选择方案和间歇传输过程，这种新颖的协议可以显著降低功耗。基于李雅普诺夫稳定性理论和马尔可夫跳变系统方法，通过求解一个优化问题得到了基于分布式一致性的控制器增益。通过两个仿真实例验证了所提出的一致性协议的优点。仿真结果表明，我们的结果是更有效的能量比现有的。
This paper is concerned with the leader-follower consensus of multiagent systems with wireless communications with the main objective of reducing the power consumption. First, by assuming that the sampling period jumps from one to another only from a given set, a new stochastic sampling approach is introduced to reduce the sampling frequency of each agent. Then, only 1-D of the sampled data is selected, and transmitted to its neighboring agents. Finally, each agent is scheduled to communicate with others intermittently. A unified Markovian system model is proposed to capture the above stochastic sampling, measurement selection scheme and intermittent transmission process, and such a novel protocol can significantly reduce the power consumption. Based on the Lyapunov stability theory and the Markovian jump system approach, the distributed consensus-based controller gain is obtained by solving an optimization problem. The advantage of the proposed consensus protocol is verified by two simulation examples. The simulation results explicitly show our result is more energy-efficient than that of existing one.