Observer-based output feedback event-triggered consensus tracking for linear multi-agent systems

Xuxi Zhang, Jinbao Song
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Abstract

This paper investigates the consensus tracking of multi-agent systems (MASs) with general linear dynamics and directed graphs via observer-based event-triggered (ET) control. For each follower, a dynamic event-triggered (DET) unknown input observer (UIO) is constructed to estimate the relative states, which utilizes the discrete relative output information among neighboring agents, and the estimate errors can exponentially converge to zero. Then, an observer-based DET controller, which has the superiority of reducing the communication burden, is presented. Unlike most existing works, a dual ET mechanism of observer and controller is proposed, whose triggering functions are independent of each other. In addition, the time-varying item in the triggering functions is further extended to be a class of positive functions, including some existing exponential functions as its special cases. Under the proposed DET UIO and DET control protocol, it is rigorously demonstrated that consensus tracking can be achieved asymptotically, and Zeno behavior is ruled out. Finally, a numerical example is provided to verify the validity of the results.
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基于观测器的线性多代理系统输出反馈事件触发共识跟踪
本文通过基于观测器的事件触发(ET)控制,研究了具有一般线性动力学和有向图的多代理系统(MAS)的共识跟踪。为每个跟随者构建一个动态事件触发(DET)未知输入观测器(UIO)来估计相对状态,该观测器利用相邻代理之间离散的相对输出信息,估计误差可指数收敛为零。然后,提出了一种基于观测器的 DET 控制器,它具有减轻通信负担的优点。与大多数现有研究不同的是,本文提出了一种观察器和控制器的双 ET 机制,其触发函数是相互独立的。此外,触发函数中的时变项被进一步扩展为一类正 L1$$ {L}_1 $$ 函数,包括一些现有的指数函数作为其特例。在所提出的 DET UIO 和 DET 控制协议下,严格证明了可以渐近地实现共识跟踪,并排除了 Zeno 行为。最后,还提供了一个数值示例来验证结果的正确性。
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