Research On Cooperative Control Of Multi-Agent Systems Under Complex Environments

Multi-agent systems(MASs)have important applications in many aspects,and their cooperative control issues have attracted much attention.In MASs,the information interaction between agents is usually carried out through the network,so the communication network plays a crucial role in the cooperative control of MASs.However,in practical applications,MASs will work in a relatively complex environment,which may lead to the communication network being attacked,random packet loss,limited communication resources and so on.Therefore,it is of great practical significance to study the cooperative control of multi-agent systems in complex environments.This paper mainly studies the cooperative control for several kinds of MASs in complex environments,and the main contents of this paper are as follows:·The leader-following consensus of nonlinear singular MASs with commu-nication constraints is investigated,where the topology among followers is undirected,and the leader is globally reachable.The distributed inter-mittent control protocols based on state feedback and output feedback are respectively proposed under the cases that states are available and unavail-able,which ensure that the multi-agent system has a unique solution,and the leader-following consensus can be achieved when the duration of com-munication is greater than a certain threshold.Moreover,a description of state jumps at the instants of communication interrupt and restoration is presented.·The leader-following consensus of nonlinear MASs under semi-Markovian switching topologies and cyber attacks is studied.When the channels work well,the communication topology is time-varying and described by a semi-Markovian switching topology,and the leader is globally reachable in each directed topology;When the channels are affected by attacks,the commu-nication topology with the globally reachable leader will be destroyed,and the communication network will be paralyzed.For the cases that the tran-sition rates of semi-Markovian switching topologies are completely known and partially unknown,the observer-based control protocols and sufficient conditions are given to ensure that the leader-following consensus of the MASs can be reached in mean square sense.·Fully distributed event-triggered time-varying formation control of MASs with external disturbances under switching topologies is investigated,where the interaction among followers is undirected and the leader is globally reachable in each topology,and the disturbances considered herein are bounded but their bounds are unknown.A fully distributed control pro-tocol based on event-triggered communication mechanism is proposed to ensure the practical formation of the MASs.The proposed protocol does not involve any global information,and there is no need for continuous communication between neighboring agents.·Output feedback event-triggered time-varying formation control for homoge-neous and heterogeneous MASs with external disturbances under switching topologies is investigated,where it doesn't require that the leader is glob-ally reachable in each directed topology.The corresponding output feed-back event-triggered time-varying formation control protocols and sufficient conditions are proposed for homogeneous and heterogeneous MASs respec-tively,which ensure that the desired state formation of homogeneous MASs and the desired output formation of heterogeneous MASs can be achieved,and the proposed control protocols don't need continuous communication between neighboring agents.