事件触发控制下多智能体系统的二分-分量一致性

doi:10.16088/j.issn.1001-6600.2025080402

广西师范大学学报（自然科学版） ›› 2026, Vol. 44 ›› Issue (3): 139-147.doi: 10.16088/j.issn.1001-6600.2025080402

事件触发控制下多智能体系统的二分-分量一致性

吴建军^1,2, 甘晓亮^1,2*, 马忠军³

1.桂林电子科技大学数学与计算科学学院,广西桂林 541004;
2.广西高校数据分析与计算重点实验室(桂林电子科技大学),广西桂林 541004;
3.广西应用数学中心(桂林电子科技大学),广西桂林 541004

收稿日期:2025-08-04 修回日期:2025-09-14 出版日期:2026-05-05 发布日期:2026-05-13
通讯作者: 甘晓亮(1987—),男,河南叶县人,桂林电子科技大学讲师,博士。E-mail: ganxiaoliang@guet.edu.cn
基金资助:
国家自然科学基金(62466011);广西自然科学基金(2023GXNSFBA026141);广西科技计划(桂科AD23023002);广西高校中青年教师基础能力提升项目(2023KY0216)

Bipartite-Partial Component Consensus of Multi-agent Systems via Event-Triggered Control

WU Jianjun^1,2, GAN Xiaoliang^1,2*, MA Zhongjun³

1. School of Mathematics and Computing Science, Guilin University of Electronic Technology, Guilin Guangxi 541004, China;
2. Guangxi Colleges and Universities Key Laboratory of Data Analysts and Computation (Guilin University of Electronic Technology), Guilin Guangxi 541004, China;
3. Center for Applied Mathematics of Guangxi (GUET), Guilin Guangxi 541004, China

Received:2025-08-04 Revised:2025-09-14 Online:2026-05-05 Published:2026-05-13

摘要/Abstract

摘要： 二分-分量一致是指一个多智能体系统中部分智能体状态变量的一些分量随时间趋于一致,而其余智能体状态变量的对应分量随时间趋于相反值的一种群体动力学行为。针对非线性领导-跟随多智能体系统,本文首次运用事件触发控制探究其在有向符号网络中的二分-分量一致性。首先,设计一个新颖的事件触发控制协议和一个能根据系统状态动态调整的事件触发函数,在保证系统性能的同时可以有效降低智能体的通信次数和控制器的更新频率;接着,推导出该多智能体系统达成二分-分量一致的充分条件,并证明该系统在所设计的事件触发控制协议下能有效规避Zeno现象;最后,通过具体仿真实例验证本文结论的可靠性和节约通信资源的有效性。

关键词: 多智能体系统, 事件触发, 二分-分量一致, 符号网络, 领导-跟随

Abstract: Bipartite-partial component consensus refers to a group dynamic behavior in a multi-agent system where some components of the state variables of some agents tend to be consistent over time, while the corresponding components of the state variables of the remaining agents tend to have opposite values over time. This paper for the first time explores the bipartite-partial component consensus problem for nonlinear leader-following multi-agent systems in directed signed networks via event-triggered control. By designing a novel event-triggered control protocol and an event-triggering function that dynamically adjusts according to the system state, the communication frequency among agents and the update frequency of controllers can be significantly reduced while guaranteeing desired system performance. Then, the sufficient conditions to achieve bipartite-partial component consensus are derived for the multi-agent systems, and it is proved that the multi-agent systems can effectively avoid the Zeno phenomenon under the designed event-triggered control protocol. Finally, a specific simulation example is used to verify the reliability of the article’s conclusion and the effectiveness of saving communication resources.

Key words: multi-agent system, event-triggered, bipartite-partial component consensus, signed network, leader-following

中图分类号: O231

吴建军, 甘晓亮, 马忠军. 事件触发控制下多智能体系统的二分-分量一致性[J]. 广西师范大学学报（自然科学版）, 2026, 44(3): 139-147.

WU Jianjun, GAN Xiaoliang, MA Zhongjun. Bipartite-Partial Component Consensus of Multi-agent Systems via Event-Triggered Control[J]. Journal of Guangxi Normal University(Natural Science Edition), 2026, 44(3): 139-147.

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事件触发控制下多智能体系统的二分-分量一致性

Bipartite-Partial Component Consensus of Multi-agent Systems via Event-Triggered Control

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