基于指数衰减事件触发的有向线性多智能体系统鲁棒H∞一致性控制OA

To address the issue of asymmetric communication topology matrices caused by directed graphs,an exponential decay event-triggered control algorithm is proposed.This algorithm ensures that linear multi-agent systems can achieve robust H-infinity consensus control in the presence of external disturbances and modeling inaccuracies under directed graphs.By introducing concepts such as control output and algebraic connectivity of directed graphs,the consensus control problem of linear multi-agent systems is transformed into a stability analysis problem of a linear closed-loop system.An exponential decay event-triggered control algorithm is designed by incorporating an exponential decay variable and the relative states of neighboring agents during event intervals.Sufficient conditions derived in terms of linear matrix inequalities(LMIs)rigorously establish the achievement of robust H-infinity consensus control.The LMIs are decoupled to eliminate the influence of communication topology and reduce computational complexity.By solving the decoupled LMIs,the parameters of the exponential decay event-triggered control algorithm are obtained.Simulation examples verify the effectiveness of the proposed algorithm.