Event-Triggered Consensus For Multi-Agent Systems

In recent years,coordination control problem for multi-agent systems has attracted increasing attention in the fields of engineering and science.At present,it has been applied in unmanned air vehicles formation,traffic controlling,etc.The basic control issues for multi-agent system are consensus,formation,rendezvous and flocking,and the last three are the developing research on consensus.In practice,multi-agent system embedded microprocessor is resource-constrained,so it is necessary to save energy consumption as far as possible,to guarantee the system working reliably.Time-triggered or periodic sampling scheme is the traditional control method for multi-agent system,but it resulted in waste of bandwidth and computational resources,with much energy consuming.Using event-triggered scheme,it is effective to reduce updating times of controller and further alleviate problem of energy and resources limited.In this thesis,event-triggered consensus for multi-agent system is mainly studied,including couple-group consensus and tracking consensus.For event-triggered couple-group consensus,protocols are proposed via time-dependent decentralized event-triggered functions for first and second multi-agent systems under undirected topology,and algebraic conditions based on matrix theory and linear system theory are obtained to guarantee dynamic consensus.Event-triggered couple-group consensus with time-delay is also considered,some sufficient conditions are given in the form of linear matrix inequalities via Lyapunov-Krasovskii function.Simultaneously,Zeno behavior is excluded for the system.For event-triggered tracking consensus,event-triggered tracking control protocol and leader's velocity observer are designed via time-dependent decentralized event-triggered function for discrete second leader-follower multi-agent system under fixed topology,a method is presented to choose appropriate control parameters and samping period,and corresponding algebraic criteria are gotten to ensure that the system achieves consensus based on algebraic graph theory and matrix theory.Detailed analysis is also made for switching topologies,some sufficient conditions are derived in the form of linear matrix inequalities via Lyapunov function.Simulation results show the feasibility of control protocols and the effectiveness of the proposed event-triggered functions.