Consensus Analysis Of Nonlinear Multi-agent Based On Saturation Constraint Impulsive Control

With the continuous development and progress of the world,multi-agent system is widely used in UAV(Unmanned Aerial Vehicle)control,robot coordination and other fields.Firstly,for multi-agent systems,the consensus problem is one of the hot issues to be studied,which is also the main problem to be studied in this paper.Secondly,with the rapid development of modern society,the practical application of multi-agent systems are more and more extensive,which also lead to higher requirements on the control mode and the applicable environment of multi-agent systems.Therefore,in order to make it more suitable for the real world,this paper mainly studies the nonlinear multi-agent consensus problem based on saturation constraint impulsive control,which mainly includes the following contents:(1)The consensus problem of nonlinear fuzzy multi-agent system based on saturation constraint impulsive control is studied.From the point of view of the complexity of the real world,a nonlinear multi-agent system with fuzzy factors is designed;from the point of view of communication constraints,three kinds of saturation constraint impulsive control protocols which concluded one type of input saturation constraint impulsive control protocols and two types of state saturation constraint impulsive control protocols are designed.By means of fuzzy system theory,convex hull theory and Lyapunov stability theory,sufficient conditions for achieving consensus of multi-agent system in undirected communication topology are obtained.Finally,the validity of the proposed consensus control protocol is verified by numerical simulation.(2)The consensus problem of nonlinear multi-agent systems under the control protocol based on the combination of edge event triggering strategy and saturation constraint impulsive control is studied.In this paper,a communication protocol combining edge event triggering strategy and impulsive control strategy is proposed and the impulsive triggering moment is used as the judgment moment of event triggering,which can not only avoid Zeno-behavior skillfully,but also reduce the frequency of information exchange and save the energy and resources consumed by the system in communication.According to the classification of saturation constraints,two kinds of control protocols which contain input saturation constraint and state saturation constraint are proposed.Based on theoretical analysis,sufficient conditions for the consensus of nonlinear multi-agent systems under these two kinds of control protocols are obtained respectively.Finally,the validity of the theory is verified by two numerical simulation examples.