【Paper】2022_Dissipativity-Based Consensus Tracking Control of Nonlinear Multiagent Systems With Gene-CSDN博客

本文链接：https://blog.csdn.net/weixin_36815313/article/details/131269620

文章研究了具有不确定Markov切换拓扑的非线性多智能体系统的共识跟踪控制问题。通过事件触发策略节省通信资源，设计了一种控制器以实现系统的一致性。仿真例子展示了方法的有效性，但文章指出Omega的具体值对触发机制有显著影响，而调整阈值theta并未得到期望结果。

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Wang J, Zhang H, Fu J, et al. Dissipativity-based consensus tracking control of nonlinear multiagent systems with generally uncertain Markovian switching topologies and event-triggered strategy[J]. IEEE Transactions on Cybernetics, 2022.

文章目录

I. INTRODUCTION
II. PRELIMINARIES
III. MAIN RESULTS
- A. Consensus Analysis
- B. Leader-Following Dissipativity Consensus Control
IV. SIMULATION
- - - Example 1
    - - 程序 `main.m`，效果如下
      - 程序 `main_Event.m`，效果如下

I. INTRODUCTION

II. PRELIMINARIES

A. Notation

B. Algebraic Graph Theory

C. Assumptions

D. Problem Formulation

The following NMASs with $N$ following agents are considered in this article. This dynamics fo the $k$ th agent are given as

$\left\{\begin{aligned} \dot{x}_k(t) &= A x_k(t) + B f(x_k(t)) + C f(x_k(t-\varphi(t)) + u_k(t) + B_w w_k(t) \\ \psi_k(t) &= D x_k(t) \end{aligned} \right. \tag{2}$

The dynamics of the leader are described as
$\left\{\begin{aligned} \dot{x}_0(t) &= A x_0(t) + B f(x_0(t)) + C f(x_0(t-\varphi(t)) \\ \psi_0(t) &= D x_0(t) \end{aligned} \right. \tag{3}$

To save network communication resources and make the NMASs reach consensus, a distributed ETS is equipped with each agent. If the ETS is satisﬁed, the agent could receive the sampled data from its neighbors

$\begin{aligned} [y_k (t^k_p + \beta h)]^\text{T} \Omega y_k(t^k_p+\beta h) \le \theta_k [\omega_k(t^k_p + \beta h)]^\text{T} \Omega \omega_k(t^k_p + \beta h) \end{aligned} \tag{4}$

where
$\red{\theta_k}>0$ means the threshold parameter.
$\red{\Omega}$ means the event-triggered matrix.
$\red{h}$ denotes the sampling period, and
$\red{t^k_p}$ denotes the $p$ th event-triggered instant of the agent $k$ .
$\red{t^k_p + \beta h}$ represents the currently sampled instant and

$\begin{aligned} y_k(t^k_p + \beta h) &= x_k(t^k_p) - x_k(t^k_p+\beta h) \\ \omega_k(t^k_p + \beta h) &= \sum_{l \in \N_k} a_{kl} [x_k(t^k_p) - x_l(t^l_{\hat{p}})] + \gamma_k [x_k(t^k_p) - x_0(t^k_p+\beta h)] \\ t^l_{\hat{p}} &= \max \{ t | t \in \{t^l_p, p=1,2,3,\cdots \}, t \le t^l_p + \beta h \} \end{aligned}$

$\begin{aligned} u_k(t) = -K(r_t) \{ \sum_{l \in N_k} a_{kl} (r_t) [x_k(t^k_p) - x_l(t^l_{\hat{p}})] + \gamma_k(r_t) [x_k(t^k_p) - x_0(qh)] \} \end{aligned} \tag{5}$

where
$\red{t} \in [t^k_p, t^k_{p+1}]$
$\red{q}$ denotes an integral.
$\red{K(r_t)}$ is the feedback gain matrix.
$\red{a_{kl}(r_t)}$ is the element of leader adjacency matrix.
$\red{\gamma_k(r_t)} > 0$ if the $k$ th agent could receive information from the leader;