Consensus Control Of Second-Order Multi-Agent Systems Based On Event-Triggered Mechanism

As a hot issue in the field of control,the consensus control of multi-agent systems has attracted the attention of scholars.Consensus control is the foundation of multi-agent systems research,its improvement is of great significance to the research of formation,tracking and clustering of multi-agent systems.The second-order systems is an important model of multi-agent systems research which considers speed information of agent compare to the first-order system.It has a lot of engineering application background,but its algorithm analysis is more complex.The consensus of multi-agent systems depends on the communication between agents,which consumes the energy of agents.However,the energy that an agent can carry is limited.In order to reduce the energy consumption of sensors and increase the system runtime,the event-triggered mechanism is introduced into the study of consensus control of second-order multi-agent systems.On the premise of ensuring systems stability and consistency,resources can be saved by reducing computation and communication The main contents of this paper are as follows:1.Research on consensus control of second-order multi-agent systems based on adaptive event-triggered mechanism.In order to achieve consensus in second-order multi-agent systems,a consensus control protocol based on position and speed information is designed.At the same time,in order to balance system performance and energy conservation,adaptive event-triggered conditions are designed.Then,the stability of the system is analyzed by the Lyapunov stability theory,and the event trigger interval is calculated to prove that the algorithm does not cause Zeno behavior.2.Research on consensus control of second-order multi-agent systems without velocity information.In view of the difficulty in accurately measuring the velocity information in engineering,an observer is designed to estimate the velocity information of the agent,and accordingly a consistency protocol and event-triggered conditions are designed.Then,the stability of the system is analyzed by the Lyapunov stability theory,and the event trigger interval is calculated to prove that the algorithm does not cause Zeno behavior.3.Research on consensus control of second-order multi-agent systems with virtual leaders.In order to accomplish more control tasks,virtual leaders are introduced,and corresponding consistency protocols and event-triggered conditions are designed.Then,the stability of the system is analyzed by the Lyapunov stability theory,and the event trigger interval is calculated to prove that the algorithm does not cause Zeno behavior.All the algorithms in this paper are validated by Matlab simulation.In order to eliminate the influence of other conditions,all parameters and states are generated by random initialization except the necessary design parameters.The simulation results show that the designed consensus control protocol can make the position and speed information of multi-agent consistent,meaning that the second-order multi-agent system is consistent.At the same time,it can be seen from the graph that the agents reach consensus in less time triggered and the system consumes less energy with expected results.