Research On Consensus Problem In Cooperative Control Of Multi-agent Systems

The cooperative control of multi-agent systems has huge application potential in in many fields such as space aviation,intelligent transportation systems and intelligent robot system. The consensus problems are the most fundamental problems in cooperative control of multi-agent systems, the research results of it will greatly promote the development and application of the cooperative control technology of multi-agent systems.Therefore, the consensus problems have gained extensive attention of the international and domestic scholars. This dissertation mainly studies the consensus problems of distributed cooperative control of multi-agent systems. The main research work include as follow aspects:1. Based on the asynchronous communication topology, the consensus problems of the second-order multi-agent systems are discussed. First, for the second-order multiagent systems with fixed undirected position communication topology and switching velocity communication topology, the Lyapunov theorems is employed to study the su?cient condition of the achievement of consensus. Second, for the second-order multi-agent systems with fixed velocity communication topology and jointly connected position communication topology, Lyapunov-Krasovskii theorems and linear matrix inequality approach are employed to study the su?cient condition of the achievement of the leader-following consensus.2. Based on the distributed event-triggered control scheme, the consensus problems of multi-agent systems are discussed. First, for the leaderless one-order multi-agent systems,a distributed event-triggered condition for every agent is obtained by proposing a new consensus protocol and using Lyapunov theorems. When the communication topology is fixed and connected, the consensus of the multi-agent systems can be achieved by using the consensus protocol and distributed event-triggered condition, at the same time the Zeno behavior can be excluded. Second, based on the same distributed event-triggered control scheme, the consensus problems of the one-order multi-agent systems with a leader and the consensus of the second-order multi-agent systems with or without a leader are also studied.3. The optimization consensus problems of the linear second-order multi-agent systems are discussed. The agent in the second-order multi-agent systems has a cost function which depend on the velocity of itself and only know by itself. Fist, based on the gradient method and adding auxiliary variable approach, a consensus protocol is proposed.And then, for the linear second-order multi-agent systems,the Lyapunov theorems and matrix transformation are employed to obtain the su?cient condition of the achievement of optimization consensus.4. The distributed containment control problems of the second-order multi-agent systems with multiple leaders are investigated. First, based on the La Salle’s Invariance Principle, some necessary and su?cient conditions for the achievement of containment control are proposed for the second-order multi-agent systems with undirected communication topology. Second, the distributed containment control problems of the secondorder multi-agent systems under the directed topology with communication time-delays are discussed, the frequency domain analysis method is employed to study the su?cient condition for the achievement of containment control, moreover, the maximum of constant time-delay can be allowed in the communication topology is discussed.