基于动态事件触发通信协议的多智能体系统自适应可靠控制

In view of the limited communication resources between neighboring nodes in multi-agent systems, this paper studies the adaptive reliable consensus control problem of multi-agent systems based on dynamic event-triggered communication protocol. Firstly, a fault-tolerant control policy based on adaptive parameter estimation technology is designed to address unknown actuator faults. Secondly, a novel dynamic event-triggered function is proposed, which prolongs the event-triggered interval by introducing a dynamic variable with adaptive adjustment capability. On this basis, it has been proved that the proposed method can ensure the convergence of consensus error solely based on the interaction information between the intelligent agent and its neighbors at the triggering time, in the case of discontinuous communication between agents. In addition, this paper theoretically demonstrates that there is no Zeno phenomenon in event-triggered communication between agents. Finally, a simulation of unmanned ship formation system is carried out, and the result can illustrate the effectiveness of the adaptive event-triggered reliable control method proposed in this paper.