非线性多智能体系统事件触发预设性能编队控制

doi:10.19678/j.issn.1000-3428.0069711

摘要/Abstract

摘要：

针对具有全状态约束的非仿射非线性多智能体系统, 研究事件触发预设性能编队控制问题。通过构造基于障碍函数的非线性映射技术来解决全状态约束问题, 避免控制器设计过程中的可行性条件。引入移位函数处理编队误差, 突破预设性能初始条件的限制。设计事件触发预设性能编队控制器, 使智能体能够在预定的时间内形成给定的编队形状, 并在之后始终保持队形, 同时有效地减少控制器到执行器的信号传输次数。利用Lyapunov稳定性分析证明了系统所有信号都是半全局一致最终有界的, 并采用理论分析排除了Zeno行为发生的可能性。数值仿真结果验证了所提控制方法的有效性。

关键词: 多智能体系统, 事件触发, 预设性能, 状态约束, 自适应控制

Abstract:

Aiming at non-affine nonlinear multi-Agent systems with full-state constraints, this study investigates an event-triggered formation control strategy with prescribed performance. The study proposes a barrier function-based nonlinear mapping technique to transform full-state constraints into the boundedness of mapped variables, thereby eliminating feasibility conditions in the controller design. Then, it introduces a shift function and a prescribed time-convergent performance function to constrain the formation tracking error. Consequently, the restriction that the initial value of the formation tracking error must be within the performance constraint range is eliminated, thus improving formation performance. The study also designs an event-triggered prescribed performance formation controller to guarantee that Agents achieve the desired formation within a prescribed time and maintain it thereafter, while significantly reducing controller—actuator signal transmissions. Lyapunov stability analysis proves that all signals in the system are semi-globally, uniformly, and ultimately bounded. The theoretical analysis rules out the possibility of Zeno behavior occurring. Finally, numerical simulations verify the effectiveness of the proposed method.

Key words: multi-Agent system, event-triggering, prescribed performance, state constraint, adaptive control

常茹, 刘宇杰, 孙浩杰, 董立伟. 非线性多智能体系统事件触发预设性能编队控制[J]. 计算机工程, 2025, 51(9): 110-119.

CHANG Ru, LIU Yujie, SUN Haojie, DONG Liwei. Event-Triggered Formation Control for Nonlinear Multi-Agent Systems with Prescribed Performance[J]. Computer Engineering, 2025, 51(9): 110-119.

https://www.ecice06.com/CN/Y2025/V51/I9/110

图/表 6

图1 智能体间通信拓扑

Fig.1 Communication topology of multiple Agents

图2 智能体运动轨迹

Fig.2 Trajectories of Agents

图3 预设性能控制作用下的编队误差

Fig.3 Formation error with prescribed performance control

图4 未使用预设性能控制的编队误差

Fig.4 Formation error without prescribed performance control

图5 状态$x_{k, 2}(k=1, 2, 3, 4)$

Fig.5 State $x_{k, 2}(k=1, 2, 3, 4)$

图6 智能体触发时刻

Fig.6 Trigger time of Agents

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