Exact Consensus Of Discrete-Time Heterogeneous Multi-agent Systems Under Independent Topologies

Discrete-time multi-agent systems(MASs)have the advantages of saving resources,reducing costs,and reducing communication time.They are widely used in the fields of robots,wireless sensors,biological systems,etc.,and are one of the important research objects of many scholars.Iterative learning control(ILC)is an effective method can make MASs obtain consensus.This thesis is based on discrete time MASs,and study the exact consensus problems of discrete heterogeneous MASs with independent topology.Heterogeneous MASs: it means that the dynamic system of the agent is different,such as: a first-order,second-order hybrid dynamic system or the same order but different parameters in a MASs are collectively called heterogeneous MASs.Independent topology structure refers to the topological the second-order dynamics of MASs position and velocity are different.ILC is used to study the consensus and formation control problems of discrete-time heterogeneous MASs,and gets the sufficient conditions for the consensus.The remainder of the paper is organized as follows:1.Based on the linear discrete heterogeneous MASs with independent topology,a distributed iterative control algorithm is proposed,and the basic knowledge of graph theory,matrix theory,compressed mapping principle and Schur complement lemma are used to obtain the necessary and sufficient condition of the consensus control problem for a kind of discretetime heterogeneous MASs,and use M AT LAB to simulate numerical examples to verify the validity of related algorithms and results;2.It is extended to discrete-time heterogeneous MASs with switching topology and time delay,the consensus control problem of discrete-time heterogeneous MASs with switching topologies is studied.The proposed distributed ILC algorithm solves the consensus of independent switching topologies and sufficient conditions are obtained;3.Extend to nonlinear discrete heterogeneous MASs based on linear discrete heterogeneous MASs,the nonlinear discrete-time heterogeneous MASs with independent topology is studied,and an ILC algorithm is used to study the consensus control problem,and sufficient conditions are obtained.Simulation proves the effectiveness of the algorithm.The consensus control problem is extended to the formation control,the formation error is used to solve the formation control problem,the simulation examples are provided to validity the effectiveness of the ILC algorithm.