基于边事件触发的奇异多智能体系统一致性

Consensus of Singular Multi-Agent Systems Based on Edge Event Triggering

摘要: 本文研究了一般奇异多智能体系统的一致性问题，提出了基于边事件触发机制的分布式一致性控制协议。首先，定义了一种相对状态用以表示通信边缘的状态。其次，针对智能体自身及其邻居状态不能实时获得的问题，为每个智能体设计了估计器。并且提出了一种基于估计器的边事件触发机制，每个智能体只在边触发时刻采样连接到这条边的邻居智能体的状态用以估计相对状态。此外，本文中触发机制的实现是完全分布式的，不依赖于任何全局网络拓扑信息。随后，证明了在提出的控制协议作用下，奇异多智能体系统能实现一致性，并且所有通信边都不存在芝诺行为。最后，通过一个仿真示例进一步验证了理论结果的有效性。

Abstract: In this paper, we study the consensus problem of general singular multi-agent systems and propose a distributed consensus control protocol based on the edge event triggering mechanism. First, a relative state is defined to represent the state of the communication edge. Second, to address the problem that the states of the intelligences themselves and their neighbors cannot be obtained in real time, an estimator is designed for each intelligence. And an estimator-based edge event triggering mechanism is proposed, in which each agent samples the states of neighboring agent connected to the edge only at the edge triggering moment to estimate the relative state. Moreover, the implementation of the triggering mechanism in this paper is fully distributed and does not depend on any global network topology information. Subsequently, it is demonstrated that under the proposed control protocol, the singular multi-agent system achieves consensus and all communicating edges are excluded from Zeno behavior. Finally, the validity of the theoretical results is further verified by a simulation example.