Journal of Computer Applications ›› 2021, Vol. 41 ›› Issue (9): 2748-2753.DOI: 10.11772/j.issn.1001-9081.2020111843

Special Issue: 前沿与综合应用

• Frontier and comprehensive applications • Previous Articles     Next Articles

Consensus of time-varying multi-agent systems based on event-triggered impulsive control

CHAI Jie, GUO Liuxiao, SHEN Wanqiang, CHEN Jing   

  1. School of Science, Jiangnan University, Wuxi Jiangsu 214122, China
  • Received:2020-11-24 Revised:2021-02-24 Online:2021-09-10 Published:2021-05-12
  • Supported by:
    This work is partially supported by the National Natural Science Foundation of China (61973137, 61772013), the Natural Science Foundation of Jiangsu Province (BK20161126).


柴洁, 过榴晓, 沈莞蔷, 陈晶   

  1. 江南大学 理学院, 江苏 无锡 214122
  • 通讯作者: 过榴晓
  • 作者简介:柴洁(1994-),女,安徽安庆人,硕士研究生,CCF会员,主要研究方向:多个体系统一致性;过榴晓(1975-),女,江苏无锡人,副教授,博士,主要研究方向:系统动力学分析与控制、统计分析初步;沈莞蔷(1981-),女,江苏无锡人,副教授,博士,主要研究方向:计算机辅助几何设计、计算机图形学;陈晶(1981-),男,江苏泰州人,副教授,博士,主要研究方向:混沌系统的控制与同步、系统建模、参数辨识。
  • 基金资助:

Abstract: For the consensus problem of time-varying multi-agent systems under time-varying topology connection, an event-triggered impulsive control protocol was proposed. In this protocol, for each agent, the controller would be updated only when the related state error exceeded a threshold, and the control inputs would be carried out only at the event triggering instants, and continuous communication between agents was avoided. This protocol would greatly reduce the cost of communication and control for network consensus. The sufficient conditions for the multi-agent systems with time-varying characteristics to achieve consensus under event-triggered impulsive control were analyzed based on the algebraic graph theory, Lyapunov stability and impulsive differential equation. At the same time, it was proved theoretically that there was no Zeno behavior in the event-triggered time sequences. Finally, the effectiveness of the obtained theoretical conclusion was verified through several numerical simulations.

Key words: multi-agent system, time-varying topology, event-triggered impulsive control, linear time-varying system, Zeno behavior

摘要: 针对时变拓扑连接环境下的时变多个体系统的一致性问题,提出基于事件触发的脉冲控制协议。在该协议里对于每个个体,只有当相关状态误差超过阈值时才会更新控制器,同时控制输入将仅在事件触发时刻执行,且个体间不需要持续通信。该协议将大幅节约系统实现一致性的通信和控制成本。使用代数图论、李雅普诺夫稳定性和脉冲微分方程等数学理论分析和推导具有时变特性的多个体系统在事件触发脉冲控制下达到一致性的充分条件,同时理论证明事件触发的时间序列不存在芝诺行为。最后,数值仿真验证了所得到的理论结论的有效性。

关键词: 多个体系统, 时变拓扑, 事件触发脉冲控制, 线性时变系统, 芝诺行为

CLC Number: