Event-Triggered Cooperative Control of Multi-Agent Systems（自动化技术、计算机技术）

《Event-Triggered Cooperative Control of Multi-Agent Systems》

作者：王婕 李擎 蔡光斌 吴彤 刘京融

定价：138.00元

出版时间：2026-04

ISBN：978-7-5240-0599-5

内容简介

多智能体系统由多个具备通信能力的智能体组成，通过智能体与其邻居智能体间的交流，使所有智能体趋于一致，协同实现单一智能体所无法实现的复杂任务。然而，多智能体系统在实际应用中仍存在许多困难与挑战，如多智能体系统在执行协同任务时需要考虑通信资源受限、任务完成时间限制、智能体状态通信量化、智能体间通信网络被攻击、智能体间存在碰撞隐患以及智能体间存在合作-竞争关系等问题。针对上述种种问题，本书以多智能体协同控制为基础，重点研究事件触发策略下多智能体系统的鲁棒一致性、固定时间编队控制、量化编队控制、网络攻击下安全编队控制、避碰条件下编队控制以及基于合作-竞争关系的二分一致性等问题。全书由控制理论出发，以解决实际工程为目标，面向多飞行器、多机器人等对象，引入图论、滑模控制理论、Lyapunov稳定性理论、事件触发控制策略、固定时间稳定性理论及人工势场法等解决关键科学问题，并通过数学推导和仿真分析相结合的方式验证算法的有效性，由浅入深，帮助读者逐步理解和掌握多智能体系统的协同控制理论，事件触发机制设计、对于理论研究与工程实践具有一定的指导意义。

目录

The authors

November,2025

Contents

Chapter 1  Introduction

1.1  Overview of multi-agent systems

1.2  State of the art in cooperative control of multi-agent systems

1.2.1  Robust cooperative control of multi-agent systems

1.2.2  Event-triggered cooperative control of multi-agent systems

1.2.3  Fixed-time and prescribed-time cooperative control of multi-agent

systems

1.2.4  Cooperative control of multi-agent systems under cyber attacks

1.2.5  Cooperative control of multi-agent systems with

cooperative-competitive interactions

1.3  Structural framework and content organization

1.4  Chapter summary

References

Chapter 2  Robust Consensus of Multi-Agent Systems Under Event-Triggered

Strategies

2.1  Event-triggered consensus control for first-order MASs

2.1.1  Problem formulation

2.1.2  Design of event-triggered sliding mode controller

2.1.3  Simulation result

2.2  Event-triggered consensus control for second-order MASs

2.2.1  Problem formulation

2.2.2  Design of event-triggered sliding mode controller

2.2.3  Simulation result

2.3  Conclusion

Reference

Chapter 3  Robust Secure Synchronization Control for Multiple Neural

NetworksㄩAn Event-Triggered Adaptive Integral Sliding

Mode Method

3.1  Preliminaries and problem formulation

3.1.1  Notations

3.1.2  Problem formulation

3.2  Event-triggered adaptive integral sliding mode control

3.2.1  Attacks on actuators and sensors

3.2.2  Distributed event-triggered adaptive integral sliding-mode

control strategy

3.3  Simulations

3.4  Conclusion

References

Chapter 4  Event-Triggered Secure Consensus for Cyber-Physical Systems

with Dynamic Quantized Measurement

4.1  Problem formulation

4.2  Event-triggered dynamic quantization consensus in multi-agent

systems

4.2.1  Quantizer design and analysis

4.2.2  Design of the control law and the adaptive law

4.2.3  Stability analysis

4.3  Simulations

4.4  Conclusion

References

Chapter 5  Distributed Event-Triggered Control for Bipartite Consensus

Under Complex Cyber Attacks

5.1  Problem formulation

5.2  Event-triggered bipartite consensus of multi-agent systems under

complex cyber attacks

5.2.1  Design and stability analysis of event-triggered sliding mode

controller under false data injection attacks

5.2.2  Event-triggered bipartite consensus under false data injection

attacks and DoS attacks

5.3  Simulations

5.4  Conclusion

References

Chapter 6  Event-Based Dynamic Quantized Control for Bipartite

Consensus

6.1  Problem formulation

6.2  Dynamic quantitative binary consistency control based on

event-triggering

6.2.1  Design of event-triggered sliding mode controller under dynamic

quantization measurement

6.2.2  Multi-agent binary consensus under non-periodic DoS attacks

6.3  Simulations

6.4  Conclusion

References

Chapter 7  Event-Triggered Robust Optimal Consensus Control for

Multi-Agent Systems

7.1  Design of event-triggered fixed-time ISMC

7.1.1  Distributed fixed-time event-based ISMC

7.1.2  Stability analysis under event-triggered control scheme

7.2  Event-based optimal consensus control design

7.2.1  Optimal consensus controller design based on event-triggered

ADP

7.2.2  Event-triggered ADP optimal consensus control algorithm

based on a single neural network

7.3  Simulations

7.4  Conclusion

References

Chapter 8  Fixed-Time Distributed Event-Triggered Formation Control

with State-Dependent Threshold

8.1  Problem formulation

8.1.1  Algebraic graph theory

8.1.2  Basic definitions and related lemmas

8.2  Event-triggered fixed-time formation control for multi-agent

systems

8.2.1  Fixed-time event-triggered formation controller design

8.2.2  Stability analysis

8.3  Simulations

8.4  Conclusion

References

Chapter 9  Output Event-Triggered Tracking Synchronization of

Heterogeneous Systems on Directed Digraph Via

Model-Free Reinforcement Learning

9.1  Problem formulation

9.2  Optimal event-triggered control design based on distributed

observers

9.2.1  Optimal controller design based on distributed observers

9.2.2  Optimal event-triggered controller design

9.2.3  Feasibility analysis

9.3  Model-free adaptive dynamic programming algorithm

9.4  Simulations

9.5  Conclusion

References