Dynamic Event-Triggered Control for Persistent Dwell-Time Switched Nonlinear Multiagent Systems With Random Packet Loss
针对切换拓扑和随机丢包的非线性多智能体系统，提出动态事件触发控制方案，通过动态阈值参数优化控制器更新频率，并用卡车拖车模型验证了实用性。
In this article, the dynamic event-triggered control scheme is given to achieve the consensus of a class of nonlinear multiagent systems with switching topologies and random packet loss. Different from the existing works of modeling topology switching in a random way, the persistent dwell-time switching rule is utilized to depict the scenario of topology alterations. To cope with the problem of redundant data transmission, the information interaction between neighboring agents is determined by the up-front design triggering condition. Instead of the conventional static threshold parameter (TP) in the triggering condition, the TP in this article can be adjusted dynamically. This means that the update frequency of the controller can be further optimized. The imperfect matching phenomenon between premise variables about the fuzzy system and controller is also tackled. Moreover, in theory, the packet loss is modeled as a Markov process. Eventually, an application example about the truck-trailer model is presented to express the practicability of the proposed method.