基于事件驱动机制的多智能体系统协调控制研究综述

为了减少对网络带宽、通信成本及智能体自身能量等有限资源的不必要的浪费，近些年来，基于事件驱动机制的多智能体系统协调控制的问题受到大量学者的关注，成为了国内外研究的热点.本文集中讨论了几类典型的事件驱动机制，着重介绍了集中式、聚类式、分布式事件驱动机制，自驱动机制和基于边信息的分布式事件驱动机制的设计思想及研究进展.此外，排除芝诺行为作为事件驱动机制研究的关键性问题之一，本文指出了其早期研究存在的盲点，并总结了两类有效的分析方法.最后，给出了事件驱动机制研究亟待解决的问题，并对其理论和应用研究进行了展望.

An overview of recent progress in the study of event-triggered coordinated schemes of multi-agent systems

In order to reduce the unnecessary waste of limit network resources such as network bandwidth,communication cost,and agents'' energy,the investigation of event-triggered schemes has become a hot research topic and attracted numerous scholars'' attention.This paper mainly discusses several classical event-triggered schemes,i.e.centralized,clustered and distributed event-triggered schemes,self-triggered schemes and edge event-triggered schemes.The research background and the recent results about the above schemes are specifically introduced.Note that the exclusion of Zeno behavior is a key problem of analyzing the effectiveness of event-triggered schemes.This paper points out a flaw of excluding Zeno behavior in the early related research,and then summarizes two basic methods to avoid this behavior.Finally,this paper provides some future research works of event-triggered schemes,and their theoretical or application research.