在事件触发协议下线性多智能体系统的集员领导跟随一致性

Set-Membership Leader-Following Consensus of Linear Multiagent Systems under Event-Triggered Protocols

摘要: 本文研究了事件触发协议下线性多智能体系统的集员领导跟随一致性问题。首先，用图论来描述多智能体之间的关系。其次，引入了事件触发协议，以减少多智能体之间不必要的信息传输。第三，提出了线性多智能体系统的集员领导跟随一致性的新概念，以揭示追随者和领导者之间的一致性误差。在集员的框架下，提出了一种新的集员估计和集员一致的设计结构，以实现期望的领导者跟随一致性。跟随者和领导者的状态通过集员估计椭球得到。观测器和控制的增益，以及椭球参数可由递归凸优化算法得到。最后，通过一个数值模拟实例来证明所提方法的可用性。

Abstract: This paper investigated the problem of set-membership leader-following consensus for linear multiagent systems (MASs) under event-triggered protocols. First, the relationship among agents is described by the graph theory. Second, the event-triggered protocol is introduced to reduce unnecessary information transmission among agents. Third, a new ideal of set-membership leader-following consensus for linear MASs is rendered to reveal the consensus errors between followers and leaders. Based on the structure of set-membership, a new co-design structure of set-membership estimation and set-membership consensus is proposed to carry out the desired leader-following consensus. The states of follower and leader are got by set-membership estimate ellipsoid. The gains of observer and control as well as the ellipsoid parameters are acquired via a recursive convex optimization algorithm. Finally, a numerical simulation example is introduced to demonstrate the availability of the developed method.