Leader-following Consensus of Nonlinear Multi-agent Systems with ROUs and RONs via Event-triggered Impulsive Control

Gu Zhi-hua; Peng Shi-guo; Huang Yu-jia; Feng Wan-dian; Zeng Zi-xian

doi:10.12052/gdutxb.210064

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Leader-following Consensus of Nonlinear Multi-agent Systems with ROUs and RONs via Event-triggered Impulsive Control

更新时间：2026-05-27

- Leader-following Consensus of Nonlinear Multi-agent Systems with ROUs and RONs via Event-triggered Impulsive Control
- Vol. 40, Issue 1, Pages: 50-55(2023)
- 作者机构：
  
  广东工业大学自动化学院,广东,广州,510006
- 作者简介：
- 基金信息：
- DOI：10.12052/gdutxb.210064
  CLC： TP273
- Online First：25 January 2023，
  
  Published：2023
- 稿件说明：
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谷志华, 彭世国, 黄昱嘉, 冯万典, 曾梓贤. 基于事件触发脉冲控制的具有ROUs和RONs的非线性多智能体系统的领导跟随一致性研究[J]. 广东工业大学学报, 2023, 40(1): 50-55.

Gu Zhi-hua, Peng Shi-guo, Huang Yu-jia, et al. Leader-following Consensus of Nonlinear Multi-agent Systems with ROUs and RONs via Event-triggered Impulsive Control[J]. 2023, 40(1): 50-55.
谷志华, 彭世国, 黄昱嘉, 冯万典, 曾梓贤. 基于事件触发脉冲控制的具有ROUs和RONs的非线性多智能体系统的领导跟随一致性研究[J]. 广东工业大学学报, 2023, 40(1): 50-55. DOI： 10.12052/gdutxb.210064.

Gu Zhi-hua, Peng Shi-guo, Huang Yu-jia, et al. Leader-following Consensus of Nonlinear Multi-agent Systems with ROUs and RONs via Event-triggered Impulsive Control[J]. 2023, 40(1): 50-55. DOI： 10.12052/gdutxb.210064.

摘要

设计了一个基于Lyapunov函数的事件触发函数，并在此基础上研究了一类具有随机发生不确定性和随机发生非线性的多智能体系统在事件触发脉冲控制策略下的领导跟随一致性。与人为设置脉冲时刻序列的控制方式不同，事件触发脉冲控制策略中脉冲控制时刻的产生依赖于事件触发函数，且当触发条件被满足时才激发脉冲控制，从而减少不必要的控制次数以及系统的资源消耗。基于脉冲微分方程理论、代数图论和Lyapunov稳定性理论，给出了受控多智能体系统实现领导跟随一致性所需要满足的充分性条件，同时证明了Zeno行为可以被排除。最后，通过Matlab实例仿真验证了本文理论结果的有效性。

Abstract

In term of the event-trigger impulsive mechanism

this paper designs a new event triggering function based on the Lyapunov function

and the leader-following consensus of multi-agent systems with randomly occurring uncertainties and randomly occurring nonlinearities is studied. Different from the control method of artificially setting the impulse time sequence

the generation of the impulsive moment depends on the designed triggering function

and when the trigger condition is met

the impulsive control is activated to reduce unnecessary control times and resource consumption. Based on impulsive differential equation theory

algebraic graph theory

and Lyapunov stability theory

the sufficiency conditions that controlled multi-agent systems can achieve the leader-following consensus are given. Meanwhile

the Zeno behavior can be excluded. Finally

the feasibility of the obtained results is verified by a numerical example.

关键词

Keywords

references

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