Have To Topology And Time-delay Nonlinear Second-order Multi-agent Consistency

In recent years, the coordinated control problem of multi-agent systems has received much attention from many recearchers from various disciplines of engineering and scientific experts, such as unmanned aircraft, queue control, etc. The critical problem for cooperative control is to design appropriate protocols or algorithms so that the multi-agent systems can emerge to a certain desired pattem or behavior, which is the so-called "consensus problems" So, with the presence of potential applications of the multi-agents distributed cooperative control, consensus thory is fast developing.The consensus problem has been a long history. For the contimuous-time protocol, it can be divided into first-order, second-order and high-order consensus protocol according to different models. So far, the first-order consensus problem ha gotten well studied. For second-order consensus protocols, no researchers conseder the network affected by time-delays and switching topolpgies which should be valuable to address. It is also the main task of this thesis. Under the aforementioned background, based on algebraic graph theory, matrix theory and control theory, the model construction and convergence analysis of consensus problems in multi-agent systems are studied in this thesis.This article suggests that when a network is affected by time-delays and switching topologies. Also, multi-agent system control protocol for nonlinear condition. Based on that, this article is studies nonlinear second-order multi-agent system consistency problemstudied with the topology and time-delay. Finally, some numerical examples are given and it is shown that the theoretical validity and applicability.This paper is composed of four parts:the first part, a brief overview of multi-agent system consistency issue of the relevant background, then introduce the main content of this article. The second part, we introduce the relative algebraic graph theory and other aspects of the basic knowledge, the paper gives the research to the topology and time-delay nonlinear second-order of the multi-agent system model. The third part, the construction of a new function, and the use of certain lemma and techniques, to study the system consistently achieve sufficient condition and some numerical examples are given to verify the effectiveness of our method. The fourth part, we give a brief summary and prospect.