【摘要】 针对二阶异质多智能体系统的一致性问题,本文研究了二阶异质多智能体系统基于事件的一致性。为了确保一致性成立,分析了异质多智能体系统的位置信息图和速度信息图的拓扑特性,并设计了关于位置信息图的基于二阶邻居信息的分布式一致性算法。同时,建立一个事件触发函数,确保系统以指数函数的形式达到一致,并证明了所有智能体的两个连续事件触发时刻之间都存在正的下界,保证了没有Zeno行为,为验证理论结果的有效性,利用Matlab软件进行仿真分析。仿真结果表明,在一致性算法(5)下,多智能体系统的位置和速度达到了一致。该研究为多机器人系统的编队问题提供了理论基础。更多还原

【Abstract】 In this paper,in order to solve the consensus problem of second-order heterogeneous multi-agent systems,we investigate the event-based consensus problem of second-order heterogeneous multi-agent systems.In order to ensure consensus,we investigate the topological properties of position and velocity information graphs for heterogeneous multi-agent systems and we design two-hop distributed consensus algorithm based on neighbors’ position information.Meanwhile,we establish an event-triggering function to ensure that the system exponentially achieves consensus.In addition,apositive lower bound for inter-event times is derived to guarantee the absence of Zeno behavior.In order to verify the validity of the theoretical results,the Matlab software is used for simulation analysis.The simulation results show that the position and velocity of the multi-agent system achieve consensus in the consensus algorithm(5).This study provides a theoretical basis for the formation of multi robot systems.更多还原