Research On Multi-agent Group Consistency Protocol Under Sampling Control Or Input Saturation

In recent years,due to the extensive application of multi-aircraft formation control,coordinated control,and attitude adjustment,the consistency of multi-agent networks has become a hot research area.Aiming at the situation that multi-agents can only obtain relative state information with neighboring multi-agents at a series of discrete moments and saturation constraints exist in the system,this paper conducts research around sampling control and multi-agent consistency under input saturation.This paper selects second-order multi-agent and mixed-order multi-agent as the research object,and in order to solve the situation of the system in the face of multi-tasking,it chooses to study the grouping consistency in the consistency problem.Firstly,the consistency of grouping of second-order multi-agent system under sampling control is studied.According to the topology of the system,the system topology is divided into two cases: fixed topology and switching topology.Under the fixed topology,a packet consensus protocol under static sampling control is proposed,and the effect of sampling time on system convergence is discussed.By using matrix theory and system stability theory,sufficient conditions are obtained for the second-order multi-agent under the fixed topology to achieve stability under sampling control and the multi-agent to complete the grouping consistency.Under the switching topology,a dynamic sampling control grouping consensus protocol is proposed.The Markov chain is used to process the random switching process.Finally,matrix theory and stability theory are used to obtain the second-order multi-agent under random switching topology.Stable and complete sufficient conditions for consistent grouping.Secondly,the consistency of traction grouping of hybrid multi-agent system under sampling control is studied.According to the system topology,the system is divided into two cases: fixed topology and switching topology.A traction grouping agreement protocol under sampling control is proposed.The influence of sampling time and traction point on the system's consistent grouping convergence is discussed.By using the disc theorem,matrix theory,and system stability theory,sufficient conditions are obtained for the mixed-order system to achieve consistent traction grouping under sampling control.Finally,the grouping consistency problem of second-order multi-agent and mixed-order multi-agent systems under saturation limitation is studied.Aiming at the saturation input in the second-order multi-agent and mixed-order multi-agent systems,the Sat saturation function is used to process the control input,and the packet consistency protocols under saturation constraints are proposed respectively.Through LaSalle's theorem,Lyapunov's stability theorem,matrix theory and other theories,sufficient conditions are obtained for the second-order multi-agent system and the mixed-order multi-agent system to achieve consistent grouping under saturation constraints.In summary,this paper has made breakthroughs in the following aspects: For the second-order system,a static sampling control packet protocol is proposed under a fixed topology,and the convergence of the system is controlled by using the sampling time;and dynamic sampling control is proposed under the switching topology.The grouping protocol enables the system to complete grouping consistent in the situation of constantly changing topology.For the mixed-order multi-agent under sampling control,a traction packet consistency protocol is proposed,and the effect of sampling time on the convergence speed of the system switching topology is discussed.By controlling the sampling time,the entire system can converge faster with less fluctuation.Aiming at saturation-constrained second-order and mixed-order multi-agent,saturation-constrained grouping consistency protocols are proposed to ensure that the system completes grouping consistency when the input is limited.