Abstract
This paper is concerned with the scaled formation control problem for multi-agent systems (MASs) over fixed and switching topologies. First, a modified resilient dynamic event-triggered (DET) mechanism involving an auxiliary dynamic variable (ADV) based on sampled data is proposed. In the proposed DET mechanism, a random variable obeying the Bernoulli distribution is introduced to express the idle and busy situations of communication networks. Meanwhile, the operation of absolute value is introduced into the triggering condition to effectively reduce the formation error. Second, a scaled formation control protocol with the proposed resilient DET mechanism is designed over fixed and switching topologies. The scaled formation error system is modeled as a time-varying delay system. Then, several sufficient stability criteria are derived by constructing appropriate Lyapunov–Krasovskii functionals (LKFs). A co-design algorithm based on the sparrow search algorithm (SSA) is presented to design the control gains and triggering parameters jointly. Finally, numerical simulations of multiple unmanned aerial vehicles (UAVs) are presented to validate the designed control method.
摘要
本文考虑固定和切换拓扑下的多智能体系统缩放编队控制问题. 首先, 提出一种改进的基于采样的包含动态辅助变量的弹性动态事件触发机制. 在该机制中, 引入一个服从伯努利分布的随机变量来表达通信网络的空闲和繁忙情况. 同时, 将绝对值运算引入触发条件, 以有效减小编队误差. 然后, 基于所提机制, 在固定和切换拓扑下设计一个缩放编队控制协议. 缩放编队误差系统被建模为一个时变时滞系统. 通过构建适当的Lyapunov–Krasovskii泛函, 导出编队误差系统稳定的充分条件. 提出一种基于麻雀搜索算法的联合设计算法, 用于联合设计控制增益和触发参数. 最后, 通过多无人机仿真实验平台, 对所设计控制方法的有效性进行了数值验证.
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The data that support the findings of this study are available from the corresponding author upon reasonable request.
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Yanping YANG designed the research. Siyu MA drafted the paper. Yanping YANG and Dawei LI helped organize the paper. Dawei LI and Jinghui SUO revised and finalized the paper.
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Project supported by the National Natural Science Foundation of China (Nos. 62103097 and 61803081), the Shanghai Rising-Star Program (No. 21QA1400100), and the Natural Science Foundation of Shanghai, China (No. 20ZR1400800)
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Yang, Y., Ma, S., Li, D. et al. Modified dynamic event-triggered scaled formation control for multi-agent systems via a sparrow search algorithm based co-design algorithm. Front Inform Technol Electron Eng 25, 197–213 (2024). https://doi.org/10.1631/FITEE.2300615
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DOI: https://doi.org/10.1631/FITEE.2300615