Event-triggered Distributed Coordinated Tracking Control For Multiple Simple-pendulum Network Systems

At present,the most commonly used sampling method of multi-agent system is periodic sampling.In order to further reduce the number of system control updates and energy consumption,and improve resource utilization.Therefore,it is considered that the event-triggered mechanism is used in multi-agent system.When the specific driving conditions are satisfied,the event-triggered control strategy can guarantees the control performance of systems.At the same time,it greatly reduces the update times of the controller.In this paper,the multiple simple-pendulum network system is taken as the research object,and the problem of coordinated tracking control based on event-triggered mechanism is mainly solved.The main research contents include:Firstly,this paper summarizes the relevant research status and main researchers.Secondly,the nonlinear multiple simple-pendulum network systems driven by DC motor is established,and then the linearized dynamic model is obtained.The related theoretical methods such as algebraic graph theory,matrix theory,unified stability theory and event-triggered mechanism are briefly introduced.Thirdly,the distributed tracking control problem based on event-triggered mechanism is studied.A distributed event-triggered control strategy is proposed,which only needs the information of the single pendulum system itself and its neighbor nodes,the consistence tracking control protocol based on the event-triggered mechanism is designed,and its stability is analyzed.It is proved that the Zeno behavior will not occur under the action of this controller,and the leader-following consistence can be achieved in the multiple simple-pendulum network systems.Finally,the validity of the proposed control protocol and the correctness of the theoretical results are verified by simulation experiments.Fourthly,on the basis of distributed event driven,the fully distributed tracking control problem based on adaptive event-triggered is studied.The distributed adaptive event-triggered proposed in this paper does not need to rely on the eigenvalue of Laplacian matrix,and then design a completely distributed control protocol.By Lyapunov method,the event-triggered conditions are obtained.Adaptive event-triggered can dynamically adjust the event-triggered time interval,which can not only save limited communication resources and energy utilization,but also maintain the control performance of the system.Then,we design a completely distributed control protocol and analyze its stability.Under the effect of the distributed adaptive control protocol,the multiple simple-pendulum network system can achieve leader-following consistence.Finally,the simulation results verify and analyze the effect of the event-triggered mechanism and control protocol.Finally,summarize the whole paper,and points out the research direction of the next stage.