Cooperative Behavior On Second-order Multi-agent Networks Via Pulse-modulated Intermittent Control

The research on cooperative behavior of multi-agent has broad application prospect in national economy and social development,such as smart agriculture,smart transportation,unmanned aerial vehicle patrol,intelligent combat system and so on.When multiple agents cooperate to complete a task,it is necessary to use a specific distributed control framework to enable them to adjust and update the state through the information obtained by themselves,so as to achieve the desired cooperative behavior.In this thesis,two kinds of cooperative behaviors are studied for multi-agent systems with second-order integral dynamics under the condition of directed communication topology,namely,multi-agent system's multiconsensus and multi-agent system's formation-containment.This research not only has important theoretical significance,but also can be applied to the actual control scenarios.The main work of this thesis is as follows:The pulse modulated intermittent control framework is applied to the collaborative behavior analysis of multi-agent system.In one sampling period,the control duration and the intermittent duration are set,which solves the problem that the sampling system or controller cannot work continuously in the actual application scene.In this thesis,the multiconsensus of second-order multi-agent system is studied,and the sufficient and necessary conditions for the realization of multi-consensus under the condition of directed communication topology are given by means of matrix theory,algebraic graph theory,stability theory,etc.The formation-containment of multi-agent systems is studied by using the pulse modulated intermittent control framework with a slight restriction of formation form.On the basis of some related theories,the analysis of formation inclusion behavior is transformed into a system stability problem,and the sufficient conditions for multi-agent system to realize formation-containment behavior are given.Considering the time delay in the control system,the formation-contaiment behavior of second-order multi-agent system with time delay is studied by using the pulse modulated intermittent control framework,and the sufficient conditions for the realization of formation-contaiment behavior are given.At the same time,on the basis of strict theoretical analysis,the corresponding numerical simulation is given in each part of the study.The numerical simulation verifies the validity of the theoretical results,which can show that the second-order integrated multiagent system can achieve cooperative behaviors such as multi-consensus and formationcontainment under the framework of pulse modulated intermittent control.Finally,this thesis summarizes the whole work and prospects the future research work.