Study On Consensus Of Impulsive Control For Multi-agent Systems

Recently,as a novel word,complex network has attracted the attention of many experts.For all these complex systems and complex objects,how to discover the internal opertion rules has been already become an important topic.As a representative in the field of artificial intelligence,more and more scholars are paying attention on the topic of cooperative control of multi-agent systems.The research of cooperative control of multi-agent systems mainly focuses on the following aspects: distributed filter,formation control,crowding effect,flocking,rendezvous,controllability and consensus.Consensus is one of the most fundamental research works.The core goal of consensus is how to design an appropriate control protocol or mechanism so that the state of all the nodes in the network could achieve consensus.As a simple and efficient control scheme,many experts pay attention on impulsive control for its strong robustness,high reaction rate,fast convergence performance and convenience.On the other hand,In the process of information transmission,impulsive control avoids the real-time information transmission and information redundancy on the alleged object.Therefore,impulsive control scheme has a wide range of application and promotion such as damping device of large spacecraft,automatic regulation of frequency in electric power system,orbit conversion technology of satellite,signal switching of mobile communication transmission and confidential communications.The impulse also exists in the multi-agent systems.At the moment of signal switching in the World Wide Web,there are impulsive effects in the connection between these nodes.Meanwhile,scholars prefer to use continuous control mechanism in the research of consensus of multi-agent systems which putting forward higher requirements for sensor and network communication technology.Because of this,it is of high necessity to introduce the distributed impulsive control scheme into the the multi-agent systems.The adoption of impulse could not only reduce the redundant information transmission and system control cost,but also improve the redundancy and rebuntness against the external disturbances of the system.In the thesis,we will study the impulsive control of multi-agent systems,and the main works can be divided into the following several aspects:(1)Intermittent impulsive control of multi-agent systems has been studied.A novel intermittent impulsive control mechanism has been probided to break through the limitation of the general impulsive algorithm.In our consensus scheme,the impulsive con-troller is only activated in the control windows,not during the entire time.According to the Lyapunov stability theory,algebraic graph theory,and the useful Halanay inequality technique,several sufficient conditions are given to achieve the consensus of delayed multi-agent systems via intermittent impulsive control.Experimental results illustrate the effectiveness of the proposed control scheme finally.(2)The problem of second-order impulsive consensus of multi-agent systems is investigated where each agent can be modeled as an identical nonlinear oscillator.Several fundamental consensus criteria are obtained based on algebraic graph theory and stability theory of impulsive differential equations by designing the suitable impulsive control protocols.In addition,the impulsive constants of position and the impulsive constants of velocity can be different,which are much closer to the reality.Simulation results also show that the impulsive control protocol is efficient to solve the second-order consensus problem for the networks with switching topologies.(3)We investigate impulsive control of multi-agent systems with stochastic perturbation.Based on the algebraic graph theory,the Lyapunov stability theory,Halanay inequality and matrix theory,some adequate conditions are proposed to guarantee the consensus of delayed multi-agent systems with stochastic perturbation via impulsive control.The pinning control is also presented in the paper.Simulation results demonstrate the effectiveness of the theoretical results.For the simple reason that stochastic and impulsive disturbances are omnipresent not only in nature but also in artificial systems,the consensus in our paper is more reasonable for the practical system.Besides,both the transmission delay and internal delay are all under consideration,our impulsive control strategy is much more gear to actual circumstances.However,the proposed control scheme increases the computation burden and is appreciably conservative.Therefore,some issues will deserve further investigation in the future study.(4)We investigate consensus of delayed multi-agent dynamical systems with stochastic perturbation via dual-stage impulsive approach.Because of the existence of the parameter uncertainties,it is a tough task for the multi-agent system to achieve complete consensus.Therefore,we investigate this class of consensus problem with less stick conditions,that is to say,consensus carrying tiny estimation errors.On the other hand,because of the fact that only the internal delay is considered in the paper,our dual-stage impulsive control strategy is not comprehensive enough.Furthermore,with the introduction of dual-stage impulsive control,the proposed scheme increases the computation burden and is appreciably conservative.