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中文摘要：
这份报纸与直接、加权的拓扑学调查多代理人系统的平均一致的问题。被触发事件的控制法律被采用以便减少自从代理人可以是在许多真实系统的资源有限，更新的单个控制的频率。事件被触发的分离时间片刻被扳机功能关于某个测量错误决定。一个集中的平均一致的协议与固定相互作用拓扑学，稳定性和哪个也被分析的影响因素为网络首先被建议。为有可变拓扑学的网络的扳机函数的设计也被讨论。然后，结果被扩大到分散的对应物，代理人在要求仅仅他们的邻居的信息。数字例子也是如果表明理论结果的有效性。
英文摘要：
This paper investigates the average-consensus problem of multi-agent systems with direct and weighted topologies. Event-triggered control laws are adopted so as to reduce the frequency of individual control updating since the agents may be resource-limited in many real systems. The discrete time instants where the events are triggered are determined by a trigger function with respect to a certain measurement error. A centralized average-consensus protocol is proposed first for networks with fixed interaction topology, the stability and influencing factors of which are also analyzed. The design of trigger functions for networks with variable topology is also discussed. Then the results are extended to the decentralized counterpart, in which agents require only the information of their neighbors. Numerical examples are also provided that demonstrate the effectiveness of the theoretical results.
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