Research On Consensus Of Multi-agent Systems With Switching Topologies

In recent years,the coordinated control problem of multi-agent systems has become a research hot topic in the field of intelligent control.The consensus problem is the basic problem of coordinated control of multi-agent systems,which has broad applications in many fields.In many coordinated control problems,including formation,clustering,and tracking,are established on the basis of consensus theory.This article will focus on control methods based on event-triggered control,formation control,and related theories of switching topology,and apply it to the research of multi-agent system consensus problems.First,applying the knowledge of graph theory,inequality theory,and Lyapunov stability theory,the average consensus of event-triggered multi-agent systems under switching topology is studied.A sampling time sequence which is determined by event-triggered time sequences and switching time sequences is designed in the case of leader following and without leader.In addition,given the assumption that the switching signal of the system is ergodic switching and the total activation time of the system is sufficiently large,the sufficient conditions for the system to achieve average consensus can be achieved.Finally,according to the designed controller,Zeno behavior of the system is directly excluded.A numerical simulation is presented to show the effectiveness of the theoretical results.Secondly,the event-triggered control is applied to similar formation problem based on complex-valued Laplacian matrix in switching topology.The distributed event-triggered control strategy based on switching topology is designed.The designed controller does not use global information.Under the assumption that the interconnection graph of the multi-agent systems is 2-rooted,it is proved that the multi-agent systems in switching topology can globally exponentially reach a similar formation of the target formation.Moreover,Zeno behavior of closed-loop system is excluded.Finally,a numerical simulation is presented to show the effectiveness of the theoretical results.