Lag Consensus Of Nonlinear Multi-agent Systems Via Intermittent Control

At the beginning of the 21 st century,the coordination of multi-agent systems,such as swarm,cluster,consensus and so on,attracted wide attention of scholars.Scholars have obtained many excellent theoretical achievements in the process of exploring the coordination of intelligent system,and applied the research results to mathematics,control engineering,sociology and other disciplines.As a basic problem of multi-agent systems coordinated control,consensus has obtained a more comprehensive theoretical framework,but needs to be explored more deeply.In real life,it is necessary to consider the delay problem in studying multi-agent systems because of the communication delay phenomenon among multi-agent.In this thesis,the problem of lag consensus in the nonlinear multi-agent system is explored.The main contents of this research include:1.The lag consensus problem of multi-agent system under intermittent control is studied.Lag consensus is a new type of cluster coordination behavior,which makes the state variables of the follower tend to be consistent with the state variables of the leader after a certain time delay.Thus effectively avoid the collision between the agents and reduce their congestion.The data packet is lost due to the instability of communication transmission between agents and the external malicious attack,so the input mode is expressed in the form of intermittent input.This thesis discusses the problem of lag consensus of multi-agent system under intermittent pinning control.Firstly,the definition of lag consensus is given.Then a suitable intermittent pinning control protocol is designed for the multi-agent system model.The sufficient criterion which the system achieve lag consensus under intermittent pinning control are derived by using Lyapunov functional method and matrix inequality theory.Finally,the correctness of the theoretical results is verified by Matlab.2.Cluster-lag consensus under intermittent pinning control is studied based on the second-order nonlinear multi-agent system.Cluster-lag consensus is a dynamic behavior between identical consensus and cluster consensus.Firstly,the definition of cluster-lag consensus is given.Then,it is proved that the second-order nonlinear multi-agent system can realize cluster-lag consensus under intermittent control by using Lyapunov stability theory and matrix theory,and the sufficient conditions for achieving cluster-lag consensus are given.Finally,numerical simulation verifies the validity of the theoretical results.The results of this thesis have potential applications in preventing traffic jams.