Event-Triggered Finite-Time Consensus of Second-Order Leader-Follower Multiagent Systems With Uncertain Disturbances
Event-Triggered Finite-Time Consensus of Second-Order Leader-Follower Multiagent Systems With Uncertain Disturbances
复制标题
具有不确定干扰的二阶领导者-跟随者多智能体系统的事件触发有限时间共识
DOI：
10.1109/tcyb.2020.3014240
复制
发表时间：
2022-05-01
影响因子：
11.8
通讯作者：
Wang, Wei
中科院分区：
文献类型：
--
作者：
Fan, Huijin;Zheng, Kanghua;Wang, Wei
研究了具有不确定干扰的二阶多智能体系统的有限时间主从一致性问题。首先，考虑到领导者的状态只对部分跟随者可用，构造了一个分布式估计器来估计领导者和每个跟随者之间的状态跟踪误差。在事件触发策略下，提出了一种基于估计器的控制方案，以实现有限时间的领导者-跟随者一致性。此外，事件触发间隔具有正的下限，从而可以避免Zeno行为。注意，在事件触发机制下，系统是不连续的;因此，执行非光滑分析。数值模拟证明了我们的理论结果的有效性。
In this article, for second-order multiagent systems with uncertain disturbances, the finite-time leader-follower consensus problem has been investigated. First, by considering that the leader's states are only available to part of the followers, a distributed estimator is constructed to estimate the state tracking errors between the leader and each follower. Then, an estimator-based control scheme is proposed under the event-triggered strategy to achieve finite-time leader-follower consensus. Besides, the event-triggered intervals are with a positive lower bound such that the Zeno behavior can be avoided. Note that the system is discontinuous under the event-triggered mechanism; thus, a nonsmooth analysis is performed. Numerical simulations are presented to demonstrate the effectiveness of our theoretical results.