Research On Consensus Of Multi-agent Systems Based On Various Triggering Mechanisms

In recent years,multi-agent systems have become an important part of artificial intelligence.And the consistency problem is one of the hot research topics.This problem will be further investigated using various data triggering mechanisms in this paper.The main research contents include the following aspects:Aiming at the consistency problem of uncertain multi-agent systems with time-delay and cyber-attacks,a hybrid-triggered consistency control protocol is proposed.Compared with the event-triggered mechanism,it can guarantee the system performance and reduce the network burden.The mathematical model of the closed-loop control system is established by considering the influence of time-delay,model errors,external disturbances and cyber-attacks on the system.Based on the Lyapunov stability theory and the LMI theory,the sufficient conditions for ensuring the consistency of the system in the mean square sense are given.The validity of the proposed method is verified by a simulation example.Consensus problem of multi-agent systems is studied with time delayed and switching topologies under dynamic event-triggered mechanism.Dynamic event-triggered mechanism is proposed by introducing a dynamic variable.The designed event-triggered condition can be dynamically adjusted according to the running state of the system.And the frequency of control updates is further reduced.The mathematical model of the closed-loop control system is established.Based on Lyapunov stability theory and linear matrix inequality theory,a theorem is given to guarantee the stability of systems.The feasibility of this method is verified by simulation.Aiming at the problem of simultaneous arrival of multiple unmanned aerial vehicles(UAVs)with time-varying delay,a distributed consistency control algorithm is proposed with the event-triggered mechanism.Firstly,the problem of simultaneous arrival of multiple UAVs is described,and the event-triggered mechanism is adopted to reduce the sampling times reasonably.Then,Lyapunov function is used to transform the rendezvous problem into the asymptotic stability problem.And the sufficient condition of system stability is given.It is also proved that there is no Zeno phenomenon in the event-triggered mechanism.The simulation results show that the multi-UAVs can realize simultaneous arrival under the designed controller.