Discrete Multi-agent Systems, Coordination And Control And Consistency

With the rapid development of modern science and technology, networked multi-agent systems have broad applications in many areas, including cooperative control of unmanned air vehicles (UAVs), flocking, distributed sensor networks, attitude alignment of clusters of satellites, and congestion control in communication networks. Therefore, the study of multi-agent systems have important practical significance.In this paper, the cooperative control of linear, discrete-time multi-agent systems with fixed information structure and without communication delays was considered. The definition of Hadamard product of block-matrices was given to describe the closed-loop systems of multi-agent systems simply, and some characteristics of it were given. Based on Lyapunov stability theory, the sufficient condition was obtained for the stabilization of multi-agent systems composed of N agents. Then, the design problems of cooperative controllers and optimization mothod were given for discrete-time linear multi-agent systems, and optimization algorithm was also considered.Consensus, trajectory tracking and formation control of general discrete-time multi-agent systems were also studied in this paper. An effective consensus protocol was given. The approach of this paper can be applied to both low-dimension and high-dimension multi-agent systems. Based on Lyapunov stability theory, the design method of consensus protocol for general discrete-time multi-agent systems was given. The stability of multi-agent systems with the presented consensus protocol was analyzed. The algorithm of consensus protocols was designed via LMI and BMI methods. The trajectory controllers were introduced on the premise of multi-agent systems have achieved consensus asymptotically. Each agent can track desired trajectory through trajectory controller. For a type of formation problem with fixed formation structure, it can be easily solved based on trajectory tracking approach with the formation structure set.Finally, for coordinated control, consensus, trajectory tracking and formation control of a discrete-time multi-agent system, simulations were given respectively. Numerical simulations were provided to illustrate the effectiveness of the theoretical results sufficiently.