基于事件触发的复杂多智能体系统一致性控制及系统性能优化

Event-triggered consensus problem of multi-agent systems has attracted considerable attention from domestic and international researchers in recent years, and some important research results are obtained. However, the current researches are mainly focused on isolated multi-agent systems and seldom involve system control performance optimization. Event-triggered consensus of interconnected and coupled complex high-order multi-agent systems with system performance optimization is a more challenging research topic, which is worthwhile to be further studied. This project first considers the distributed event-triggered consensus in complex multi-agent systems. The model of two-layer network is established, and the comprehensive design method of distributed event-triggered consensus control law and event triggering function is presented. A sufficient condition is proposed to guarantee that the consensus of closed-loop system is achieved and Zeno behavior is excluded. Then, we further study the distributed event-triggered consensus of complex multi-agent systems under the quadratic cost index constraints. The event-triggered consensus control protocol and the event triggering function are constructed. The theoretical method of system quadratic performance optimization is proposed to get a balance between the system control performance and the consumption of network communication resource. It is expected that the research result in this project will establish a novel method to deal with the distributed event-triggered consensus in complex multi-agent systems and provide theoretical support for the networked control of complex multi-agent systems.

多智能体系统事件触发一致性问题的研究，近年来受到国内外学者的持续关注，取得大量的重要研究成果，但现有的研究大多针对孤立的多智能体系统，并且很少涉及系统的控制性能优化，对于互联、耦合的高阶复杂多智能体系统，基于事件触发的一致性控制及系统性能优化更具理论研究和应用价值，成为一个亟待解决的研究课题。本项目首先研究复杂多智能体系统的分布式事件触发一致性问题，构造两层网络模型，提出分布式事件触发一致性控制律和事件触发函数的综合设计方法，给出闭环系统满足一致性和无Zeno现象的充分条件；在此基础上，进一步研究复杂多智能体系统在二次型性能指标约束下的分布式事件触发一致性问题，综合构造事件触发一致性控制律和事件触发函数，提出系统性能优化的理论方法，平衡系统的控制性能和网络通信资源消耗。预期研究结果将建立一套处理复杂多智能体系统的分布式事件触发一致性问题的新方法，为复杂多智能体系统的网络化控制提供理论支持。

项目围绕复杂多智能体系统展开分布式事件触发控制研究。首先，研究了互联、耦合的高阶复杂多智能体系统的事件触发一致性问题；在有向通信拓扑下，给出分布式事件触发一致性控制律，建立了复杂多智能体系统满足渐近一致性的事件触发条件。其次，在有向、切换通信拓扑下，重点研究了异构、高阶多智能体系统的事件触发输出同步问题，提出了基于模型的分布式事件触发观测器并排除了系统存在Zeno现象，给出了估计观测误差指数收敛衰减率的理论方法，建立了分布式事件触发输出同步控制律，实现了多智能体系统输出同步误差指数收敛的控制目标。在此基础上，深入探讨了基于局部通信信息，即完全分布式的事件触发同步控制策略，提出了基于事件触发的分布式内模和计算组合状态的算法，保证了异构、高阶多智能体系统输出同步误差指数收敛到一个球域。在分布式架构下，该方法具有较好的可扩展性。