Group Consensus Of Multi-agent System Under Non-ideal Communication Conditions

At present,multi-agent systems have attracted the attention of scholars in many fields due to its wide application prospects.As the core of multi-agent system,the problem of consensus control is the focus of research.With the rapid development of communication technology,the traditional consensus problem cannot meet the complexity of system,the study of group consensus is particularly important.Network is the key to achieve group consensus of multi-agent systems,during the process of information exchange between agents and their neighbors is often affected by the network environment.However,the actual network environment is not ideal with many constraints and uncertainty factors.Therefore,the group consensus of multi-agent systems under non-ideal communication conditions must be considered and solved.This paper introduces several non-ideal communication conditions,such as switching network,cyber-attack,input saturation,and applies appropriate control strategies to realize the group consensus problem of multi-agent systems.Main works are described as follows:(1)Aiming at the group consensus problem of second-order multi-agent systems,we propose a group consensus protocol based on pinning control strategy.Consider that the network model has switching topologies,we introduce the corresponding virtual leaders into the model.The consensus protocol given for each agent in the network relies on the position information and the velocity information from the neighboring agents and the pinning control from the virtual leaders.Furthermore,the pinning control from the virtual leader can be time-varying.Using Lyapunov stability theory,we analyze the group consensus and provide some sufficient conditions on the consensus for the second-order multi-agent systems with switching topologies.(2)In order to investigate the group consensus for leaderless multi-agent systems,we design the group consensus protocol based on the position information from neighboring agents.Consider that the network is subjected to frequent cyber-attacks,which are assumed to be recoverable.Based on algebraic graph theory,linear matrix inequality and Lyapunov stability theory,the sufficient conditions of the two subgroups subjected to cyber-attacks are given.In addition,the results are extended to the consensus issue of multiple subgroups with cyber-attacks.(3)This paper focuses on the bipartite consensus problem of the multi-agent system with cooperative-competitive interactions.The bipartite consensus can be defined as the reverse group consensus.In order to save resources,a pinning event-triggered scheme subjected to input saturation is designed.Using linear matrix inequalities and Lyapunov stability theory,some sufficient conditions are derived to ensure that the bipartite consensus of the system can be achieved.Moreover,the bipartite consensus of system with Lipschitz nonlinear dynamics is also investigated,and Zeno behavior can be excluded.Subsequently,numerical examples are provided to illustrate the effectiveness of the obtained results.