Research On Impulsive Consensus Of Several Kinds Of Nonlinear Multi-Agent Systems Under Different Control Mechanisms

In the 21st century,benefit from the continuous breakthroughs in science and technology in many key fields around the world,the multi-agent systems supported by computer technol-ogy,communication technology,and modern control theory has been obtained an increasingly powerful function that single agent cannot achieve.Since distributed collaborative control technology is the research foundation of the multi-agent systems field,and the problem of con-sensus is a key issue in the field of distributed collaborative control,so the study of consensus of multi-agent systems has been received extensive attention from experts and scholars.In or-der to save limited communication resources,reduce control costs and increase control speed,researchers have introduced impulsive control mechanisms into the above study.However,on the one hand,authors usually preset the impulsive control sequence in many works of liter-ature,which is conservative to a certain extent.In this regard,the event-triggered impulsive control mechanism can avoid this problem.On the other hand,the real impulse signal can be equivalently seen as appearing in an impulse time window under the influence of objective phe-nomena such as jitter or drift.Therefore,research on the impulsive consensus of multi-agent systems under the impulse time window is more in line with objective reality.In addition,we should also consider the influence of factors such as parameter uncertainty or stochastic distur-bances caused by the fluctuation of the external environment on the dynamic behavior of the agent,and consider whether an optimization strategy can be designed to generate the optimally impulsive control signal,and so on.In summary,this paper studies the impulsive consensus problem of several types of nonlinear multi-agent systems under different control mechanisms.The main research contents of this paper are as follows:1.In the introduction,the research background and significance of the multi-agent sys-tem and the current research situation of the impulsive consensus of the multi-agent system are introduced firstly,and then the preliminary knowledge and common assumptions and lemmas that need to be used to carry out the research of this paper are given.Finally,it briefly intro-duces the work arrangements of this paper and the main content of the subsequent chapters and explains some specific symbols that appear in the text.2.Based on the constructed periodic variable impulse time window layout,the leader-following mean square consensus of stochastic multi-agent systems with randomly occurring nonlinearities(RONs)and randomly occurring uncertainties(ROUs)is studied.Lyapunov stability theory,stochastic differential equation theory,and matrix theory are used to give cor-responding sufficient mean square consensus criteria,and then different application scenarios of consensus criteria under different parameter backgrounds are discussed.Finally,the validity and feasibility of the research method are verified by numerical simulations.3.Inspired by the concept of "average impulse interval",the concept of "average left endpoint interval" suitable for the existence of an impulse time window is proposed,and it is used to study the leader-following mean square consensus problem of stochastic multi-agent systems with RONs and ROUs.Based on the Lyapunov stability theory,stochastic differential equation theory and matrix theory,a unified mean square consensus criterion is finally obtained.On the basis of this criterion,a larger upper bound of the allowable impulsive interval than the existing related literature can be obtained.Finally,the validity of the analysis method and theoretical results is verified by a numerical simulation.4.In the model of the multi-agent system,the objective effects of RONs,ROUs,and stochastic disturbances are comprehensively considered,and the leader-following mean square consensus problem of multi-agent systems is studied based on the designed event-triggered function that can avoid the Zeno behavior.Among them,the generation of the impulsive control signal for each agent depends on the designed function.Finally,based on the Lyapunov stability theory,stochastic differential equation theory,and Halanay inequality in the sense of mean square,a series of mean-square consensus criteria have been obtained,and multiple simulation examples have verified the effectiveness of the proposed methods.5.In this chapter,three impulsive controller optimization algorithms are designed and combined with sampled-data control and distributed event-triggered impulsive control mech-anism,the impulsive consensus problem of three types of nonlinear multi-agent systems is studied.Through the optimized selection of the corresponding algorithm,all the information of the external nodes received at impulse moment has been more rationally used.Therefore,based on the same parameters,this research has fewer sampling and control times and a faster control speed in the entire control process than the general situation that only relies on the sampled-data control.Finally,multiple simulation experiments have fully verified the validity of the proposed algorithms.6.Based on the distributed event-triggered impulsive control mechanism and combined with the previously proposed impulsive controller optimization algorithm,the impulsive con-sensus problem of network-based multi-agent systems is studied.At the same time,in the initial model construction,the influence of algorithm-induced time delay,communication time delay,and system inherent time delay were considered,and a new model based on the impulse time window was obtained through model transformation.Then use the Lyapunov stability theory,stochastic differential equation theory,and Halanay inequality to give the corresponding con-sensus criterion and obtain the maximum allowable total impulsive input delay.Finally,the effectiveness of the proposed method is verified by numerical simulation examples.