Study On Cooperative Control Of Multi-agent System Based On Variable Impulse Method

In recent years,the research on distributed cooperative control of multi-agent systems has become a research hotpot,due to its widespread application in physics,science and engineering,especially in formation fly of unmanned air vehicle,formation control of multiple autonomous robots,satellite attitude control and microbial aggregation.It has also become a hot issue in current research.The impulsive control method only needs to transmit information at the impulsive instant,which can reduce the information redundancy in the communication process.At present,most of the research on impulsive control is based on the fixed time impulse,that is,the impulsive input signal only occurs at a predetermined fixed time.However,in practical systems,due to the delay of the sensor,the specific instant of impulsive input can't be predicted.Due to the complexity of theoretical research of variable impulse,the research on variable impulsive control is relatively less.Therefore,this paper mainly studies the cooperative control of multi-agent systems under the variable impulsive control method,and it proposes a more flexible,more effective and more realistic variable impulsive control algorithm of the multi-agent system.The main research contents of this dissertation include the following aspects::Firstly,the impulsive cooperative control of a nonlinear multi-agent system based on the impulsive time window is studied.Combining the impulsive differential equation,impulsive time window and Lyapunov stability theorem,the stability conditions including the impulsive time interval and impulsive control gain are given.In addition,due to the existence of noise interference in information communication,the effect of stochastic disturbance on multi-agent system cooperative control is considered.Combined with correlation method of impulsive time window,the variable impulsive control of multi-agent system under stochastic disturbance is studied.Secondly,the cooperative control of multi-agent system with unknown system parameters is studied.Design distributed impulsive control algorithm to realize cooperative control of multi-agent system with unknown system parameters.Based on the impulsive time window,adaptive control and Lyapunov stability theorem,the stability conditions including the impulsive time interval and impulsive control gain are given.Thirdly,the cooperative control of multi-agent system with unknown system parameters based on odd impulsive sequence control and comparison system theory is studied.The comparison system method can simplify the system analysis process and has certain theoretical advancement.Combing the comparison system method,adaptive control and odd impulsive sequence control,the stability conditions including the impulsive time interval and impulsive control gain are obtained.