Dichotomous Consistency Of Heterogeneous Multi-agent Systems

The bipartite consensus problem of heterogeneous multi-agent systems composed of first-order and second-order agents is investigated and a new distributed bipartite consensus control protocol is proposed.The main research contents are as follows:1.The bipartite consensus problem of continuous and discrete heterogeneous multiagent systems is investigated,respectively.Combining with the control protocol proposed in this dissertation,the dynamic characteristics of the closed-loop control system are analyzed by means of algebraic graph theory and matrix theory.Necessary and sufficient conditions are obtained respectively to guarantee that continuous and discrete heterogeneous multi-agent systems reach bipartite consensus.2.To improve the utilization of communication resources,based on distributed eventtriggered control mechanism,the bipartite consensus problems of heterogeneous multiagent system without input delay/with input delay are investigated and event-triggering functions and event-triggered bipartite consensus protocol are designed.To avoid continuous inter-agents communications and Zeno behavior,the threshold of eventtriggering function is composed of the latest event-triggered states of agents and an exponential decay function.By virtue of Lyapunov method,sufficient conditions for heterogeneous multi-agent system are obtained to guarantee bipartite consensus and nonexistence of Zeno behavior is proved.For the case with input delay,an admissible upper bound of the delay is given to guarantee bipartite consensus.3.In order to further reduce the frequency of controller updates and save communication energy,integral-type event-triggering functions are designed for heterogeneous multi-agent systems,which can reduce the conservatism of using Lyapunov method.Barbalat lemma is used to prove that heterogeneous multi-agent systems can achieve bipartite consensus and Zeno behavior can be excluded.