Consistency Control Of Nonlinear Multi-agent System

With the rapid development of production industrialization and the practical application of multi-agent group system needs to increase,a mass of researchers keep a watchful eye on the consistency problem of the balance between high-order swarm systems and the energy consumption.In practical application,for example,the Multi-UAV formation control using the consistent method,each UAV has only limited energy supply.Therefore,this paper aims to study and analyze how to better achieve the dynamic output consistency of the swarm system under the given energy budget.The first chapter describes the development of the consistency problem of group systems,summarizes the research status of different order swarm systems,and makes a simple analysis of the existing papers related to energy and consistency performance,so as to start the work of this paper.The preliminary knowledge introduced in the second chapter: graph theory,matrix theory,some theorems of linear system theory,and Lyapunov stability judgment are all theoretical reserves and research tools.The main research contents of this paper are as follows.In chapter 3,we study the dynamic output feedback consistency of singular swarm systems with a fixed topology under a given energy budget.Existing normal group of dynamic output feedback system consistency is build by consturt a relationship betweem dynamic output feedback synchronization protocol and the cost of a given budget,which implement the analysis of control cost and design standard,but the normal swarm system of a given energy budget constraints introduced the nonlinear term.Thus on the basis of introducing the general system,the singularity of system makes the whole group of system satisfies some separation principle.And then take advantage of this feature,we transformed the leaderless singular systems with fixed topology,and divided into consistent and inconsistent part,designed gain matrix in two-step,and given the consistent function through the first explicit expression of equivalent form.By deduction,the consistent function is related to the initial state of each agent in the dynamic mode and group system,and independent of the given energy budget and protocol state.The leaderless topology corresponds to the leader-following topology.When extended to the leader-following,the relationship matrix is transformed from a complete graph to a star graph.Finally,the above consistent conclusions are verified by checking the examples of leaderless and leaderless structure respectively.In chapter 4,we study the dynamic output feedback consistency of a singularity swarm system with a switching topology under a given energy budget.In practical applications,the complexity of cooperation among agent groups is closely related to the topological structure among agents,and the topological structure that changes frequently is closer to the real environment.So this chapter introduces switching topology which simulated the actual communication connection and disconnection,and analyzed respectively in leaderless and leaders-following communication topology.Finally verified by simulation experiment under the singularity swarm system with a switching topology and given energy budge.Conclusion and prospect about this article don`t consider some factors in the time-varying,delay-communication,heterogeneous agents,weight change.Such as follow-up research topic can take these factors into consideration with the purpose to improve the in the practicability of multi-agent group in gathering,flocking,formation control.