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首页 > 过刊浏览>2025年第17卷第1期 >98-107. DOI:10.13878/j.cnki.jnuist.20230907002
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基于事件触发γ滑模的多智能体系统一致性控制
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TP273

基金项目:

国家自然科学基金(61973169);江苏省自然科学基金(BK20201392);江苏高校“青蓝工程”项目(R2021Q04)


Consensus control of multi-agent systems based on event-triggered γ sliding mode
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    摘要:

    针对存在未知非线性函数的二阶领导-跟随者多智能体系统,提出一种基于事件触发γ滑模控制设计方案.首先,选择一种基于反双曲正弦函数的新型滑模趋近律,以保证多智能体系统在有限时间内达到一致性.其次,设计带有增益缩放因子γ的滑模函数,并引入事件触发机制.通过Lyapunov稳定性分析,证明了提出的控制方法是有效的.该方法不仅可以消除系统中的抖振还可以降低控制过程的采样频率.此外,还证明了触发时间间隔的最小下界,排除了芝诺现象.最后,通过Matlab/Simulink仿真实验,验证了该方法的有效性.

    Abstract:

    Here,an event-triggered γ sliding mode control scheme is proposed for the second-order leader-follower multi-agent systems with unknown nonlinear functions.First,a novel sliding mode reaching law based on inverse hyperbolic sine function is selected to ensure that the multi-agent system achieves consensus in limited time.Second,a sliding mode function with gain scaling factor γ is designed and the event triggering mechanism is introduced.Through Lyapunov stability analysis,it is proved that the proposed control scheme is effective,which can not only eliminate the system chattering but also reduce the sampling frequency of the control action.In addition,the minimum lower bound of the triggering time interval is proved,which excludes Zeno phenomenon.Finally,the effectiveness of the proposed scheme is verified by Matlab/Simulink simulation results.

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引用本文

李小萌,郑柏超.基于事件触发γ滑模的多智能体系统一致性控制[J].南京信息工程大学学报(自然科学版),2025,17(1):98-107
LI Xiaomeng, ZHENG Bochao. Consensus control of multi-agent systems based on event-triggered γ sliding mode[J]. Journal of Nanjing University of Information Science & Technology, 2025,17(1):98-107

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  • 收稿日期:2023-09-07
  • 在线发布日期: 2025-02-22

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