广东工业大学学报 ›› 2022, Vol. 39 ›› Issue (05): 102-111.doi: 10.12052/gdutxb.220066

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事件触发机制下的多速率多智能体系统非脆弱一致性控制

刘建华1,3,4, 李佳慧1,3,4, 刘小斌2, 穆树娟1,3,4, 董宏丽1,3,4   

  1. 1. 东北石油大学 人工智能能源研究院，黑龙江 大庆 163318;
    2. 上海电子信息职业技术学院 中德工程学院，上海 201411;
    3. 东北石油大学 黑龙江省网络化与智能控制重点实验室，黑龙江 大庆 163318;
    4. 东北石油大学 三亚海洋油气研究院，海南 三亚 572024
  • 收稿日期:2022-03-24 发布日期:2022-07-18
  • 通信作者: 刘小斌(1979–)，女，副教授，主要研究方向为电机控制技术、电力拖动自动控制系统等，E-mail：68486201@qq.com
  • 作者简介:刘建华(1996–)，男，硕士研究生，主要研究方向为多智能体的一致性控制等
  • 基金资助:
    国家自然科学基金资助项目(U21A2019，61873058，61933007)；海南省科技专项资助项目(ZDYF2022SHFZ105)；黑龙江省博士后面上项目(LBH-Z21123)；东北石油大学人才引进科研启动经费资助项目(2021KQ14)

Event-Triggered Mechanism Based Non-Fragile Consensus Control for Multi-Rate Multi-Agent Systems

Liu Jian-hua1,3,4, Li Jia-hui1,3,4, Liu Xiao-bin2, Mu Shu-juan1,3,4, Dong Hong-li1,3,4   

  1. 1. Artificial Intelligence Energy Research Institute, Northeast Petroleum University, Daqing 163318, China;
    2. Sino German Institute of Sngineering, Shanghai Technical Institute of Electronics & Information, Shanghai 201411, China;
    3. Heilongjiang Provincial Key Laboratory of Networking and Intelligent Control, Northeast Petroleum University, Daqing 163318, China;
    4. Sanya Offshore Oil & Gas Research Institute, Northeast Petroleum University, Sanya 572024, China
  • Received:2022-03-24 Published:2022-07-18

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摘要： 针对一类多速率多智能体系统，研究在事件触发机制下的非脆弱H∞一致性控制问题。为了更符合实际需要，采用多速率采样策略，并通过提升技术将多速率采样转化为单速率采样。考虑到智能体间的通信负担，引入事件触发机制来减少智能体间的通信次数。此外，考虑到控制器在执行过程中可能出现的不精确性，本文设计一种可以容忍执行过程中变化/波动的控制器。综上，本文的目的是设计一种基于观测器的事件触发非脆弱控制器来实现多智能体系统的H∞一致性控制。利用线性矩阵不等式技术，得到使系统满足H∞一致性控制的充分条件，然后设计控制器参数。最后，为了说明事件触发控制方法的有效性，给出一个数值仿真实例。

关键词: 多智能体系统, 多速率采样, 事件触发机制, 非脆弱控制器

Abstract: The research on the non-fragile H∞-consensus control problem for a class of multi-rate multi-agent system under the event-triggered (ET) mechanism is focused on. In order to be more in line with actual need, a multi-rate sampling strategy is adopted, which leads to a multi-rate sampling that can be converted into a single-rate sampling via lifting technique. Considering the transmission burden among the agents, an ET mechanism is introduced to reduce the numbers of transmission among the agents. In addition, in view of the possible inaccuracy of the controller implementation, a controller that can tolerate the changes/fluctuations during the implementation is designed to make the multi-agent system more robust. An observer-based ET non-fragile controller is designed to achieve the H∞-consensus control of the multi-agent system, in which the controller can tolerate the variations/fluctuations during the implementation. By using the linear matrix inequality technique, the sufficient conditions are obtained that can ensure the H∞-consensus control of the considered system, and then the controller parameters are designed. Finally, a numerical simulation example is given to prove the effectiveness of the ET control method.

Key words: multi-agent system, multi-rate sampling, event-triggered mechanism, non-fragile controller

中图分类号: 

  • TP273
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