Research And Its Application On Cooperative Control Of Multi-Agent Systems Under Networked Environments

In recent years,with the rapid development of technologies such as communications,sensors,the Internet,and machine vision,it has become possible for a large number of intelligent agents to cooperate with each other to complete civilian and military tasks.Compared with a single agent,multi-agent systems have the ability to greatly improve operational efficiency and reduce costs.Based on this idea,cooperative control of multi-agent systems has attracted great attention from experts and scholars at home and abroad,and is widely applied in sensor networks,unmanned vehicles/aircraft formations,multi-missile cooperative attacks and intelligent transportation systems.Although cooperative control of multi-agent systems has achieved remarkable results,the following problems need to be studied:(1)For the consensus problem of multi-agent systems with time-varying delays and system uncertainty,some novel Lyapunov functions and an aperiodic sampled-data control strategy are designed.Based on Lyapunov stability theory and free-weighting matrix approach,a sufficient condition for multi-agent system with time-varying delay to achieve consensus are obtained.By determining the inequality theorem of the parameters,a robust consensus condition of multi-agent systems with time-varying delay and system uncertainty is obtained.(2)For the consensus tracking problem of multi-agent systems with fixed and switching topologies,based on the state estimation information of each follower and their neighboring nodes,a distributed control strategy is designed.Then,a novel Lyapunov function is constructed,by utilizing Lyapunov stability theory and -matrix theory,an event-triggering function between agents is constructed,which reduces the communication frequency.Furthermore,the obtained results are extended to switching communication topologies,and an sufficient condition of multi-agent systems to achieve consensus tracking is obtained.(3)For the consensus tacking problem of multi-agent systems with exogenous disturbances,the cases that leader without control input and with unknown control input are studied.By virtue of the relative state information of neighboring agents,state estimator,disturbance estimator and distributed control protocol are designed for each follower to estimate the system states,exogenous disturbances and achieve consensus tracking control,respectively.Furthermore,a novel state estimator with adaptive gain is proposed and consensus tracking problem of multi-agent systems with exogenous disturbances and the leader with unknown control input is addressed.(4)For the consensus tracking of multi-agent systems with system faults,the case that system with process faults and systems with both of process faults and sensor faults are studied are studied.An intermediate estimator and An unique control protocol are designed,such that the system states,system faults can be well estimated and the control tracking control can be achieved.(5)For the formation control problem for unmanned ground vehicles,according to the kinematic model of a single unmanned ground vehicle,the formation model of multiple ground unmanned vehicles is obtained.The virtual leader in the existing method is replaced by the actual leader,and the dynamic error of the leader-follower is obtained.Then,the Lyapunov function and control strategy for angular velocity and velocity are designed,and the unscented Kalman filter is used to optimize the estimation of the state of the ground unmanned vehicle so as to realize the formation control of unmanned ground vehicles.