具有可设计最小事件间隔时间的鲁棒动态事件触发协调
Robust Dynamic Event-Triggered Coordination With a Designable Minimum Inter-Event Time
摘要：
本文回顾了经典的多智能体平均共识问题，在过去的十年中，许多不同的事件触发控制策略已被提出。这些作品的许多最早的版本得出结论渐近稳定性没有证明芝诺行为，或死锁，不发生沿轨迹的系统。解决这个问题的更近的作品：（i）提出使用驻留时间，其迫使事件间时间远离零的下界，但牺牲渐近收敛以换取实际收敛（或收敛到邻域）;（ii）保证非芝诺行为和渐近收敛，但不提供正的最小事件间时间保证;或（iii）不是完全分布的。此外，绝大多数的这些作品没有提供任何形式的鲁棒性分析的事件触发策略。更具体地说，如果任意小的干扰可以消除非芝诺属性，那么理论上正确的算法实际上可能无法实现。相反，这项工作第一次提出了一个完全分布式的，强大的，动态的事件触发的算法，一般有向通信网络，所需的积极的最小事件间的时间可以选择由每个代理在一个分布式的方式。模拟结果说明了我们的结果。
英文摘要：
This paper revisits the classical multi-agent average consensus problem for which many different event-triggered control strategies have been proposed over the last decade. Many of the earliest versions of these works conclude asymptotic stability without proving that Zeno behavior, or deadlocks, do not occur along the trajectories of the system. More recent works that resolve this issue either: (i) propose the use of a dwell-time that forces inter-event times to be lower-bounded away from zero but sacrifice asymptotic convergence in exchange for practical convergence (or convergence to a neighborhood); (ii) guarantee non-Zeno behaviors and asymptotic convergence but do not provide a positive minimum inter-event time guarantee; or (iii) are not fully distributed. Additionally, the overwhelming majority of these works provide no form of robustness analysis on the event-triggering strategy. More specifically, if arbitrarily small disturbances can remove the non-Zeno property then the theoretically correct algorithm may not actually be implementable. Instead, this work for the first time presents a fully distributed, robust, dynamic event-triggered algorithm, for general directed communication networks, for which a desired positive minimum inter-event time can be chosen by each agent in a distributed fashion. Simulations illustrate our results.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
