文献类型：期刊文献

英文题名：Tracking Consensus for Nonlinear Multi-Agent Systems Under Asynchronous Switching and Undirected Topology

作者：Hu, Shanyan[1];Wang, Mengling[1,2]

机构：[1]East China Univ Sci & Technol, Key Lab Smart Mfg Energy Chem Proc, Minist Educ, Shanghai 200237, Peoples R China;[2]Zhejiang Univ, State Key Lab Fluid Power & Mechatron Syst, Hangzhou 310027, Peoples R China

年份：2025

卷号：25

期号：15

外文期刊名：SENSORS

收录：;EI(收录号：20253318993902);WOS:【SCI-EXPANDED(收录号:WOS:001549639300001)】；

基金：This research was funded by the Shanghai Science and Technology Innovation Action Plan grant number 22dz1201500 and by the Open Foundation of the State Key Laboratory of Fluid Power and Mechatronic Systems grant number GZKF-202314.

语种：英文

外文关键词：tracking consensus; asynchronous switching; dynamic event-triggered mechanism; multi-agent systems

摘要：This paper investigates the tracking consensus of nonlinear multi-agent systems under undirected topology, considering asynchronous switching caused by delays between communication topology switching and controller switching. First, by using the properties of undirected topology graphs, the controller design process is simplified. Then, to address asynchronous delays during topology switching, the system operation is divided into synchronized and delayed modes based on the status of the controller and topology. Every operating mode has a corresponding control strategy. To alleviate the burden of communication and computation, an event-triggered mechanism (ETM) is introduced to reduce the number of controller updates. By constructing an augmented Lyapunov function that incorporates both matching and mismatching periods, sufficient conditions ensuring system stability are established. The required controller based on the dynamic ETM is obtained by solving Linear Matrix Inequalities (LMIs). Finally, a simulation example is conducted to verify its effectiveness.