Research On Consensus Of Multi-agent Systems Under Several Kinds Of Constraints

With the development of artificial intelligence,the consensus of multi-agent systems has gradually attracted the attention of many researchers.Saturation constraint exists in all kinds of real systems,and time-delay is inevitable in agent networks.Therefore,this paper focuses on the effects of saturation constraint,communication delay and input delay on complete consensus or lag consensus of multi-agent systems.The problem of group consensus for first-order multi-agent systems with input saturation constraint is studied.According to the relationship between competition and cooperation,a new control protocol is designed to achieve group consensus.Then,a sufficient condition is obtained.Due to the differences in the structure or function of agents in systems,homogeneous multi-agent systems can not satisfy the requirement of some engineering application.In addition,delay may cause the state of the agent to lag.Therefore,leader following lag consensus tracking problem of heterogeneous multi-agent systems with partial first-order constraints and second-order nonlinearity is considered.A distributed control algorithm based on pinning control is proposed.Moreover,a sufficient condition is given.Finally,numerical simulation is carried out.Consensus of an adaptive coupled multi-agent systems with communication delay is researched.Firstly,an error system is constructed.Then,according to Lyapunov theory,a sufficient condition is obtained.In addition,an adaptive coupling weight updating scheme is proposed.In this article,the problem of lag consensus for heterogeneous multi-agent systems with time-varying input delay is considered.Two cases,fixed topology and switching topology are considered and the corresponding control protocols are designed for the two cases.Sufficient conditions are given in two cases.Sufficient conditions are in the form of linear matrix inequality(LMI).By constructing Lyapunov Krasovskii functional,the correctness of the theoretical results is proved.Finally,the numerical simulation is carried out by using MATLAB.