合作竞争多智能体系统的事件触发二分一致性控制及应用

In view of the advantage in resource utilization, event-triggered control has become an effective scheme for the consensus problem of multi-agent systems with limited resources. In most of the existing event-triggered consensus control, continuous static event-triggered mechanism is applied and agents with cooperative interactions are considered, which has limitations and conservative. In this research, different periodic event-triggered control of multi-agent systems with cooperative and antagonistic interactions will be investigated to achieve bipartite consensus and reduce the consumption of resources. Based on Lyapunov stability theory, Algebraic Graph Theory and input-delay method, periodic static event-triggered control will be designed. The event conditions will be constructed based on the state of the agent or the sampling state of its neighbors at their event time instants. The saving of resource will be proved in theory. Then, interval variable under designed and energy transfer method will be applied to constructed the periodic dynamic, dynamic and static mixed event-triggered bipartite consensus control. The conservation of the static event-triggered control will be reduced. Finally, the results above will be applied to the multiple nonholonomic robots, solving the output and state formation problem. This project, will provide control schemes with energy saving and low consuming for extensively existed multi-agent systems with limited resources. Moreover, it will facilitate the applications of the cooperative control of multiple robots. Therefore, this project has significant theoretical meaning and practical value.

事件触发控制因其在资源利用上的优势，成为资源受限的多智能体系统一致性问题的良好控制策略。现有的事件触发一致性控制多属连续检测的静态事件触发控制且仅考虑个体间合作关系,具有较大的局限性和保守性。本课题针对合作竞争关系共存的多智能体系统，研究其周期性检测的多样事件触发控制，实现系统的二分一致性，并降低资源消耗。拟利用Lyapunov稳定性理论、代数图论及输入时滞等方法，设计周期性检测的静态事件触发控制，构造无需周期性通信的事件触发条件，从理论上证明通信资源的节约程度；构造内部变量并借助“能量转移”思想，设计周期性检测的动态、动静态混合型事件触发控制，降低静态事件触发控制的保守性；并将以上结果应用到多非完整机器人系统，实现机器人输出及全状态编队控制。这一课题的完成，将为更加广泛的资源受限多智能体系统提供节能低耗的控制方法，且有利于推动机器人协作控制的实际应用，具有重要的理论意义和工程价值。

多智能体系统的一致性问题具有重要的理论价值与实际应用背景。鉴于事件触发控制在资源利用上的优势，以及智能体间合作与竞争关系普遍共存的现实状况，本项目集中研究合作竞争多智能体系统的事件触发控制，旨在实现系统的二分一致性，同时提高有限通信资源的有效利用率。研究过程中，分别针对单积分器型多智能体系统，设计出静态、动态事件触发控制，实现系统的渐近二分一致性以及预设时间二分一致性；针对一般线性的多智能体系统，构建静态、动态事件触发策略，分别实现系统的渐近二分一致性、预设时间实用二分一致性；针对多非完整轮式移动机器人，分别针对手端位置及质心，构造周期性检测的事件触发控制，实现二分一致性及编队控制，同时保证系统其它内部状态趋于常值；针对非完整多智能体系统，构造新的周期性检测的事件触发控制，实现全状态一致性及编队控制。该项目将完善事件触发一致性控制问题的理论研究成果，且为潜在的工程应用提供清晰的理论指导。