Data-Driven Event-Triggered Control of Multiagent Systems With Communication Delays: A Hybrid System Approach
针对存在通信延迟的连续时间多智能体系统，提出一种数据驱动的事件触发控制方法，利用混合系统框架和动态事件触发机制，无需精确系统模型即可保证强Zeno自由性，并通过仿真验证有效性。
This work studies the problem of data-driven event-triggered control of continuous-time multiagent systems (MASs) with communication delays. A hybrid system approach is proposed to address this problem, hybrid dynamic event-triggering mechanism (DETM) is utilized to ensure strong Zeno-freeness and estimated system matrix is introduced to design time-varying state estimator. By using several auxiliary variables, the closed-loop MAS is described into hybrid system form, that can completely describe the flow dynamics and jump dynamics of the MAS in the presence of communication delays. Then, data-based controller gain matrix design is developed and an estimator is designed to estimate unknown system matrix. After that, based on derived model-based stability conditions and combined with data-driven representation of MAS, data-based stability analysis and event-triggering mechanism (ETM) design results are obtained. The main advantages of the proposed approach in contrast with existing works are that accurate system model is not needed and strong Zeno-freeness is ensured under the scenario with communication delays. Finally, the effectiveness of the proposed method is verified by simulation example.