چكيده به لاتين
In this study, an event-triggered control for second-order multi-agent systems has been designed to achieve resilient flocking behavior in the presence of cyber-attacks. In the last decade, the cooperative control of multi-agent systems using event-triggered mechanisms has attracted the attention of many researchers. Control of multi-agent systems at the practical implementation level faces challenges such as communication bandwidth limitations, limitations in the energy source of each agent, computational limitations in the processor of each agent, and so on. Especially in flocking, where the number of agents is usually very high, these challenges become much more pronounced. The use of event-triggered mechanisms can address many of these challenges well. Therefore, in this study, a three-state event-triggered control was used to can manage connectivity and increase the robustness of the topology graph. Also, the control method is completely distributed, which gives the system unique features such as extensibility. The designed update law can eliminate the effects of malicious agents using the W-MSR algorithm and at the same time prevent the exchange of additional data between agents to save energy. When the system arrives steady state, the agents will have no data exchange with each other. The convergence of the velocity and direction of movement of the agents using this structure is guaranteed and the method of adjusting the control parameters is presented. Also, the Zeno phenomenon will not occur at all in the proposed event-triggered mechanism. Finally, by simulating a multi-agent system and implementing the proposed control method, the accuracy and efficiency of the proposed method are measured. Various tests are performed on the simulated system to observe and evaluate the performance of the system under different conditions.
