动态自触发通信下多智能体输出反馈包容控制

doi:10.12305/j.issn.1001-506X.2024.01.39

Abstract

Abstract:

Aiming at the limited bandwidth of swarm system commumcation network, an output-feedback containment control method of directed high-order nonlinear multi-agent systems under dynamic self-triggered communication is proposed. Firstly, aiming at the limited bandwidth of swarm system communication network, a novel dynamic self-triggered communication mechanism is proposed. Compared with the traditional event-triggered communication mechanism, the proposed dynamic self-triggered communication mechanism has a larger triggering threshold and does not need to continuously monitor the system state information, which further saves the system communication resources and sensor resources. Secondly, an output-feedback control protocol is devised such that all the followers converge into the convex hull spanned by the leaders, realizing the multi-leaders containment control of the network. Finally, the effectiveness of the control method and the correctness of the theoretical analysis are verified by the hypersonic flight vehicle swarms.

Key words: dynamic self-triggered communication, high-order multi-agent, containment control, hypersonic

CLC Number:

TP273

Renwei ZUO, Yinghui LI, Maolong LYU, Hongyan NIE. Output-feedback containment control for multi-agents under dynamic self-triggered communication[J]. Systems Engineering and Electronics, 2023, 46(1): 345-356.

Figures/Tables 8

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Table 1

References 35

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触发机制	时间间隔/s
触发机制	0~100	100~200	200~300	0~300
DETM	154	14	356	524
DSTM	+37.2%	+107.1%	+80.1%	+68.3%
SETM	+29.5%	+85.7%	+3.1%	+13.2%

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Output-feedback containment control for multi-agents under dynamic self-triggered communication

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