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首页> 外文期刊>Neural Networks and Learning Systems, IEEE Transactions on >Designing Fully Distributed Adaptive Event-Triggered Controllers for Networked Linear Systems With Matched Uncertainties
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Designing Fully Distributed Adaptive Event-Triggered Controllers for Networked Linear Systems With Matched Uncertainties

机译：设计具有匹配不确定性的线性网络系统的完全分布式自适应事件触发控制器

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摘要

This paper considers the distributed event-triggered consensus control problem for a network of linear systems subject to bounded uncertainties satisfying the matching condition. Due to the existence of nonidentical uncertainties, the multiagent system studied in this paper is essentially heterogeneous, and the event-triggered consensus problem of which is much more challenging than that of homogeneous linear networks in the existing works. We propose a static nonsmooth event-triggered protocol that includes a nonlinear term to ensure that consensus is achieved and the Zeno behavior is excluded. To avoid the undesirable chattering effect caused by the nonsmooth protocol, we design a static continuous event-based protocol, which can guarantee that the consensus error is ultimately bounded and the upper bound of the consensus error can be made satisfactorily small by choosing properly the design parameters. We also design a continuous adaptive event-triggered protocol that includes time-varying weights into both the control law and the triggering function. Contrary to the event-triggered protocols in the previous related works, the adaptive event-based protocol is fully distributed and scalable, whose design does not require any global information of the network graph. Besides, all the event-triggered protocols in this paper do not need continuous communications among neighboring agents in either control laws' updating or triggering conditions' monitoring.
机译：本文考虑了满足匹配条件的有界不确定性的线性系统网络的分布式事件触发共识控制问题。由于存在不确定性不确定性，本文研究的多主体系统本质上是异构的，并且在现有工作中，事件触发的共识问题比齐次线性网络更具挑战性。我们提出了一种静态非平稳事件触发协议，该协议包括一个非线性项，以确保达成共识并排除芝诺行为。为了避免由非平滑协议引起的不希望的颤动效应，我们设计了一个基于静态连续事件的协议，该协议可以确保通过合理选择设计，最终可以将共识误差限制在一定范围内，并且可以使共识误差的上限较小参数。我们还设计了一个连续的自适应事件触发协议，该协议将时变权重包括在控制律和触发函数中。与先前相关工作中的事件触发协议相反，基于事件的自适应协议是完全分布式和可伸缩的，其设计不需要网络图的任何全局信息。此外，本文中所有事件触发的协议在控制律的更新或触发条件的监视中都不需要相邻代理之间的连续通信。

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