Research On The Problems Of Some Kinds Of Consensus Of Multi-agent Systems

With the wide application of the coordination control of multi-agent system in UAV formation,automatic highway system scheduling,satellite attitude control,air traffic control and so on,the coordination control problem of multi-agent systems has attracted great attention of domestic and foreign research workers.Consensus problem is a foundation problem in coordination control of multi-agent system,which has become a research hotspot in the field of system and control science in recent years.In this dissertation,graph theory,Lyapunov stability theory,impulsive control theory and linear matrix inequality theory are used to investigate consensus problem of multi-agent systems.The main contributions of this dissertation are as follows:1.In the introduction,the research background and research significance of the consensus problem on multi-agent system are expounded,and the early results of the research on consensus problem of multi-agent system are summarized.Subsequently,the current research status and hot issues in this field are classified and analyzed,and the main theoretical tools used in consensus research are briefly introduced.Finally,the research content and significance of this paper are given.2.The leader-following consensus problem of nonlinear multi-agent systems with randomly occurring uncertainties and stochastic disturbances under impulsive control input is studied.Considering that the impulsive signals are mostly non-uniform,we introduce "average impulsive interval" to characterize non-uniformly impulsive signals.In order to achieve consensus,an impulsive control protocol is proposed.Under the control protocol,based on average impulsive interval,a sufficient condition for the system to achieve consensus is obtained.The results of theoretical analysis and simulation show that our results are less conservative than existing results which based on the upper bound or lower bound of the impulsive intervals.3.The consensus problem for a class of nonlinear delayed multi-agent systems under impulsive control inputs is investigated.First,in order to make the delayed systems achieve consensus,we design an impulsive control protocol under fixed topology.Next,based on comparison principle,Lyapunov stability theory,impulsive control theory and average impulsive interval,two consensus criteria are derived for ensuring consensus of nonlinear delayed multi-agent systems under the non-uniformly distributed impulsive control signals.4.Based on Razumikhin-type technique,the leader-following consensus problem is investigated for a class of nonlinear delayed multi-agent systems with randomly occurring uncertainties and stochastic disturbances under impulsive control input.In order to reduce the control cost,an impulsive pinning control protocol is designed.Based on Lyapunov stability theory and Razumikhin-type technique,Schur complement lemma and Ito differential formula,a consensus criterion in terms of linear matrix inequalities which can optimize system parameters is proposed for ensuring consensus of the proposed system under impulsive control input.5.Under fixed topology and stochastic switching topology,the group consensus problems of discrete-time multi-agent systems are investigated respectively.Instead of relying on the in-degree equilibrium and other assumptions,we present a novel group consensus protocol which can exactly reflect the interactive influence among the agents of the multi-agent systems.In order to achieve consensus,a goal agent is set for each group.Based on graph theory,matrix analysis and Lyapunov stability theory and the proposed protocol,the group consensus criteria are derived for the systems under fixed and switching topology respectively.6.The group consensus problems for discrete-time and continuous-time multi-agent systems with input delays are investigated respectively.We present two novel group consensus protocols.Under the proposed protocols,based on frequency domain analysis method and the Gerschgorin disc theorem,two sufficient conditions for ensuring the system to achieve group consensus are obtained.Simulation examples are given to verify the theoretical results.