Distributed Adaptive Event-Triggered Fault-Tolerant Synchronization for Multiagent Systems
Distributed Adaptive Event-Triggered Fault-Tolerant Synchronization for Multiagent Systems
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DOI：
10.1109/tie.2020.2967739
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发表时间：
2021-02
影响因子：
7.7
通讯作者：
Yong Xu;Zhengguang Wu
中科院分区：
文献类型：
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作者：
Yong Xu;Zhengguang Wu
本文研究了具有事件触发控制机制的多智能体系统的完全分布式的基于自适应容错同步问题。首先，非线性和不连续的自适应基于事件触发的容错控制器，提出了每个代理，以克服未知故障的发生和不可测的完整状态的控制系统。此外，还提出了一种由状态相关阈值和时间相关阈值组成的自适应触发函数，用于在线调整触发阈值参数。然后，一个改进的非线性和连续的基于自适应ETC策略的控制器，以克服抖振现象的不连续控制器。证明了在两个控制器的情况下，SP不仅可以以完全分布式的方式实现，而无需连续通信进行控制器更新和触发条件检测，而且可以实现“芝诺行为”的排除。最后，通过对移动的机器人的仿真，验证了算法的有效性。
This article investigates the fully distributed observer-based adaptive fault-tolerant synchronization problem (SP) of multiagent systems with event-triggered control mechanisms. First, a nonlinear and discontinuous adaptive observer-based event-triggered fault-tolerant controller is proposed for each agent to overcome the occurrence of unknown faults and unmeasurable full states of the controlled system. Besides, an adaptive triggering function consisting of state-dependent and time-dependent threshold is developed to adjust the parameter of triggering threshold online. Then, a modified nonlinear and continuous observer-based controller with adaptive ETC strategy is developed to overcome the chattering phenomenon from the discontinuous controller. It is proved that under two controllers, the SP not only can be achieved in a fully distributed way without continuous communication for both the controller updates and the triggering condition detecting but also exclusion of “Zeno behavior” can be realized. Finally, the effective algorithms can be verified by giving numerical simulations related to mobile robots.