多智能体系统周期动态事件触发二分一致性

doi:10.12305/j.issn.1001-506X.2026.01.25

Abstract

Abstract:

In view of the leader-following bipartite consensus problem in general linear multi-agent systems with resource constraints, a control protocol with low communication cost is proposed based on an improved dynamic periodic event-triggered mechanism, in which the individual controllers adaptively adjust the control input only depending on neighbors and its own estimation error, and the threshold of dynamic periodic event-triggered mechanism is increased by incorporating an exponential term. Then, a sufficient condition is derived by Lyapunov method for the system to solve the considered bipartite consensus problem. Simulation results show that compared with the dynamic periodic event-triggered mechanism, the proposed mechanism reduces the overall number of systems triggering events by 49% while maintaining the same convergence rate of the system. Meanwhile, the number of triggers is reduced by 92.1% as the leader-following error is less than ±0.3. In this sense, the proposed method significantly reduces the communication cost of multi-agent systems, which is important for the practical implementation of consensus problem in large-scale networked systems.

Key words: multi-agent systems, dynamic periodic event-triggered, leader-following consensus, bipartite consensus, adaptive control

CLC Number:

TP 273

Zonggang LI, Jintao QIU, Xiaogang NING, Yinjuan CHEN. Dynamic periodic event-triggered bipartite consensus for multi-agent systems[J]. Systems Engineering and Electronics, 2026, 48(1): 278-289.

Figures/Tables 12

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触发条件	智能体1	智能体2	智能体3	智能体4	智能体5
式（15）	140	139	153	83	58
式（48）	288	335	365	180	101

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