摘要： 现有关于多智能体一致性事件触发控制策略的研究工作都是假设智能体的通信拓扑图为无向的,而在实际应用中,智能体网络中的通信更多的具有方向性。针对上述问题,提出一种事件触发控制下的有向网络一致性分析方法,使智能体能避免连续通信,同时建立网络的代数连通度和一致性收敛性能之间的联系,证明每个智能体的时间间隔都是正实数,从而可以避免Zeno行为。仿真结果表明了该分析方法的有效性。

关键词: 分布式事件触发, 多智能体, 一致性, 代数连通度, 有向拓扑

Abstract: The existing publications about consensus event-triggered control strategy of multi-agent networks all assume that the interactive network is undirected instead of a more practical case:directed topology.Motivated by this problem,a novel analysis method for directed interactive networks under event-triggered control is introduced.In this method,agents can truly obtain the ability avoiding continuous communication.Furthermore,connection between algebraic connectivity and consensus performance in networks is established.It proves that the inter-event times for each agent are strictly positive,which implies that the Zeno behavior can be excluded.Simulation results show the effectiveness of the proposed approach.

Key words: distributed event-triggered, multi-agent, consensus, algebraic connectivity, directed topology

中图分类号: 

• TP393