Fully distributed control for second-order multi-agent systems based on dynamic event-triggered mechanism
In this paper,the consensus problem of second-order multi-agent systems under undirected communication topology is studied.A fully distributed event-triggered control strategy based on the auxiliary dynamic variables is designed for the situation of leader and leaderless respectively,and the strategy has the characteristics of few parameters and easy adjustment.Only when the agent reaches the event-triggered condition,it broadcasts its state information to neighbors,which effectively avoids continuous communication and reduces the energy dissipation of the system.The control protocol and event-triggered law of each agent does not use the neighbor's continuous state information,but only uses its own state information and the neighbor's state information at the triggering instants.In addition,it does not rely on any global information of the communication topology network.Using the algebraic graph theory and Lyapunov stability theory,it is proved that under the proposed strategy,the multi-agent system achieves consensus asymptotically without Zeno behavior.A simulation example further demonstrates the effectiveness of the theoretical results.
multi-agent systemsconsensusdynamic event-triggered controlfully distributed control
万方数据
维普
