The Group State-consensus Of Multi-agent Systems With External Disturbances

The main purpose of studying multi-agent systems is to hope that agents with simple functions can carry out distributed cooperation and coordinated control,and finally complete complex tasks.The research of consensus is particularly popular.Its core is to design the control protocol of the system,the states of the agents reach the same value after communicating with each other.Multi-agent systems will inevitably be exposed to various external disturbances during information exchange and collaborative movement.Such as noise interference,actuator saturation,etc.Sometimes,we must not only make the states of different groups of agents tend to be consistent,but also make their states track the leader's state trajectory.In other words,we need to control some variables of the leader agent so that other agents converge to the same value as the leader agent.In addition,due to network bandwidth and transmission speed,there may be a time delay when the agent communicates with each other through the network,which will reduce the performance of the system.Therefore,this thesis studies the grouping state-consensus and grouping leader-following consensus of multi-agent systems with external interference and communication delay.This thesis uses a networked predictive control method to solve the problems caused by the communication delay between agents.First it studies the grouping state-consensus problem of the discrete networked multi-agent system with communication delay.And this thesis considers the problem of external interference that is not considered in the existing multi-agent systems grouping consensus literature,and it gives the sufficient and necessary conditions for the discrete multi-agent systems to achieve grouping state-consensus.Second,the thesis considers the collaborative control of multi-agents on the basis of leaderfollowing consensus research,and the situation of external interference in the system is also taken into account.The sufficient and necessary conditions for achieving group leader-following consensus of multi-agent systems with external interference are obtained.Among the related research,most of the research objects are continuous multi-agent systems,so this article explores and analyzes discrete multi-agent systems.Finally,the results of numerical simulation are used to prove the feasibility of the conclusions.