Leader–Follower Consensus of Multiagent Systems With Energy Constraints: A Markovian System Approach
研究无线通信多智能体系统中领导者-跟随者的一致性问题，通过随机采样、一维数据选择和间歇通信降低能耗，并用马尔可夫模型统一描述，仿真表明比现有方法更节能。
This paper is concerned with the leader-follower consensus of multiagent systems with wireless communications with the main objective of reducing the power consumption. First, by assuming that the sampling period jumps from one to another only from a given set, a new stochastic sampling approach is introduced to reduce the sampling frequency of each agent. Then, only 1-D of the sampled data is selected, and transmitted to its neighboring agents. Finally, each agent is scheduled to communicate with others intermittently. A unified Markovian system model is proposed to capture the above stochastic sampling, measurement selection scheme and intermittent transmission process, and such a novel protocol can significantly reduce the power consumption. Based on the Lyapunov stability theory and the Markovian jump system approach, the distributed consensus-based controller gain is obtained by solving an optimization problem. The advantage of the proposed consensus protocol is verified by two simulation examples. The simulation results explicitly show our result is more energy-efficient than that of existing one.