论文标题
非线性多代理系统的分布式事件触发的领导者追随者共识
Distributed Event-Triggered Leader-Follower Consensus of Nonlinear Multi-Agent Systems
论文作者
论文摘要
我们考虑分布式Leader-Tress-wermensus共识问题，这些问题与事件触发的通信有关。所考虑的系统是非线性输入式多种代理系统。假定代理具有相同的动力学结构，具有不确定的参数并满足增量稳定性条件。提出了一项分布式控制定律，该法律基于两个新的沟通触发条件（CTC）达成共识：第一个实现渐近共识，但没有任何保证Zeno行为的保证，也没有任何一个排除ZENO行为的行为，但具有实践共识。
We consider the distributed leader-follower consensus problem with event-triggered communications. The system under consideration is a non-linear input-affine multi agent system. The agents are assumed to have identical dynamics structure with uncertain parameters and satisfying an incremental stabilisability condition. A distributed control law is proposed which achieves consensus based on two novel Communication Triggering Conditions (CTCs): the first one to achieve an asymptotic consensus but without any guarantees on Zeno behaviour and the second one to exclude Zeno behaviour but with practical consensus.
