Fixed-Time Bipartite Consensus of Multi-Agent Systems With the Dynamic Event-Triggered Scheme
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摘要: 针对多智能体系统的通讯受限问题，研究了一种基于采样数据的固定时间动态事件触发二分一致性算法. 首先，设计了一种周期采样机制，以降低系统的通讯频率. 针对采样数据设计了一种基于辅助变量的动态事件触发控制算法，以进一步减小系统触发次数. 其次，为提高动态事件触发控制算法的收敛速度，研究了一种动态事件触发固定时间二分一致控制算法. 最后，利用Lyapunov稳定性理论、代数图论以及相关不等式，对所提控制协议稳定性进行了严格的理论证明，并通过仿真实验验证了算法的有效性.Abstract: To address the issue of the communication constraints in multi-agent systems, a fixed-time dynamic event-triggered bipartite consensus algorithm based on sampled data was studied. First, a periodic sampling mechanism was designed to reduce the communication frequency of the system. Then, a dynamic event-triggered control algorithm based on auxiliary variables was developed for the sampled data to further decrease the triggering frequency of the system. Next, to enhance the convergence speed of the dynamic event-triggered control algorithm, a dynamic event-triggered fixed-time bipartite consensus control algorithm was investigated. Finally, with the Lyapunov stability theory, the algebraic graph theory, and the relevant inequalities, a rigorous theoretical proof of the stability of the proposed control protocol was provided, and the effectiveness of the algorithm was verified through simulation experiments.
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图 1 基于采样数据的动态事件触发固定时间控制框图
Figure 1. Diagram of the sampled-data-based dynamic event-triggered fixed-time control
图 3 基于采样数据的事件触发固定时间一致
注 为了解释图中的颜色，读者可以参考本文的电子网页版本，后同.
Figure 3. The sampled-data-based event-triggered fixed-time consensus
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