事件触发下具有状态预测器和输入时滞的多智能体系统的二分一致性

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中图分类号：TP13 文献标志码：A doi： 10.3969/j .issn.1673-5862.2025.03.004

Bipartite consensus multi-agent systems with state predictor input delay under event triggering

JINGLi ， ZHENG Wanting （ 11oo34，China）

Abstract： This paper studies the bipartite consensus problem multi-agent systems with state predictors input delay under event-triggered mechanism. Firstly，a consensus control protocol with state predictors is designed to address the problems cooperative competition input delay among agents. Event-trigger conditions are designed for each agent based on graph theory matrix theory，the consensus problem multi-agent systems is transformed into the consensus problem error closed-loop system. Secondly，by constructing an appropriate Lyapunov function， the Lyapunov function method is used to prove that the system can achieve bipartite consensus. Then，it is proved that the event-triggered control protocol in the paper can avoid the occurrence Zeno phenomenon. Finally，numerical simulations are carried out using MATLAB to verify the feasibility effectiveness the method. The event-triggered control protocol adopted in this paper can save communication resources， the state predictor can predict the trend system state changes， enabling the multi-agent system to achieve consensus more quickly.

Key words： multi-agent system； bipartite consensus; event trigger; time-lag； state predictor近年来，随着生物学、计算机科学和网络通信等多个学科交叉渗透，多智能体系统控制成为当前控制领域的热点问题，在诸多领域得到广泛应用[1-4]。（剩余7465字）