Research On Group Consensus Of Multi-agent Systems With Switching Topologies

In recent years,with the broad application of artificial intelligence,more and more new hot topics are discovered.Consensus,as one of very important important problems in the collaborative control of multi-agent systems,has been attracted widespread attention and many related results have been obtained.Up to now,most of the obtained results are needed to suppose that multi-agent systems is homogeneous.However,in most real situations,due to the limitation of external environment,it is impossible to ensure that all agents have the same dynamic principle.To model the scenarios with more complex application,it is particularly important to investigate the heterogeneous multi-agent system.On the other hand,it is relatively mature in the study of consensus of multi-agent system with fixed topology network.Similarly,in many real problems,the topology network structure is often not fixed,it can be switched with time varying.Compared with multiagent system in fixed network topology,the related results on multi-agent system with switching topology are still very few and the related works are needed to be further studied.In this thesis,group consensus of multi-agent systems with switching topology has been studied and some mainly results have been obtained as follows.Firstly,group consensus of high-order homogeneous multi-agent systems with unknown faults and delay under switching topology has been investigated.Based on cooperative-competitive interaction,a novel group consensus protocol has been designed for this system.Since the delta operator method is introduced,both the group consensus of continuous-time and discrete-time systems can be solved by this method.By using delta operator,Lyapunov function and linear matrix inequalitys(LMIs),some sufficient conditions have been obtained for the group consensus of this system.Furthermore,group consensus of this system with switching topology has been studied if there is no spanning tree in some sub-topology.Some sufficient conditions have also derived for the group consensus of this system.The results show that the system can still achieve group consensus only if the switching frequency between sub-topology meets with certain conditions,even if some of sub-topology have no spanning tree.Some digital simulations show the validity of the theory.Secondly,group consensus of a kind of heterogeneous multi-agent systems which is composed of first-order and second-order agents has been studied in this thesis.And a similar group consensus protocol has been also proposed which is based on cooperativecompetitive interaction.In view of the various communication interactions between firstorder and second-order agents,the Laplacian matrix is decomposed into four sub-matrices.Combining with the delta operator method,some sufficient conditions have been achieved to realize the group consensus of this heterogeneous multi-agent system with switching topology.Digital simulation experiments have shown the validity of these sufficient conditions.Thirdly,the pinning group consensus protocol and leader-follower group consensus protocol are proposed for heterogeneous multi-agent systems respectively,which cooperative-competitive mechanism and communication delay are considered.By using the definition of system error and delta operator method,the pinning group consensus and leader-follower consensus of heterogeneous multi-agent system with switching topology network can be transformed into determining the stability of the related delta switching system,respectively.Then,Lyapunov function and LMI are used to obtain the sufficient conditions for the group consensus of this system.Simulation results have also verified the accuracy of the conclusion.Finally,conclusions have been made for this thesis,and the future related works are listed.