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针对资源受限的时变拓扑多智能体系统的编队控制问题,提出一种基于复合误差信息事件触发机制以减少不必要的信息传输,降低带宽占用,并设计了多智能体系统的编队控制协议和分布式事件触发机制.通过将多智能体系统的编队控制问题转化为闭环延时系统的稳定性问题,构造Lyapunov-Krasovskii函数并利用线性矩阵不等式技术,给出多智能体系统实现编队的充分条件.最后,通过仿真验证了所提出方法的有效性.
Aiming at the problem of formation control of resource-constrained multi-agent system with time-varying topology, this paper proposes an event triggering mechanism based on composite error information to reduce unnecessary information transmission and reduce bandwidth occupation. A formation control protocol And distributed event triggering mechanism.This paper constructs the Lyapunov-Krasovskii function by transforming the formation control problem of multi-agent system into the stability problem of closed-loop delay system and gives the sufficient formation of multi-agent system by using the method of linear matrix inequality Finally, the validity of the proposed method is verified by simulation.