在事件触发协议下多智能体系统的集员包含控制

The Set-Membership Containment Control of Multi-Agent Systems under the Event-Triggered Protocol

摘要: 本文研究了基于事件触发协议的多智能体系统的集员包含控制问题。在集合成员包含控制中，所有追随者的状态需要进入由领导者状态组成的凸包。首先，提出了一个局部观测器来估计每个智能体的状态。其次，采用基于事件的协议来缓和数据交换的压力。第三，提出了多领导者的集员包含概念。在集员滤波结构下，给出了集合估计和集员包含的结构，以实现期望的包含性。观测器和控制器的增益以及椭球的参数通过递推凸优化算法得到。最后，通过算例验证了该方法的有效性。

Abstract: This paper addresses the problem of set-membership containment control of multi-agent systems (MASs). In set-membership containment control, states of all followers need to go into a convex hull consisting of states of leaders. Firstly, a local observer is proposed to estimate the state of each agent. Secondly, the event-triggered protocol is used to moderate the pressure of data exchange. Thirdly, the concept of a new set-membership containment for MASs with multileader is proposed. In the structure of set-membership filtering, the structure of set-membership estimate and set-membership containment is afforded to carry out the desired containment. The gain of observer and controller and the ellipsoid parameters got by a recursive convex optimization algorithm. Finally, the effectiveness of the proposed method are demonstrated by an illustrated example.