Dynamics Analysis Of Flocking Of Multi-agent Systems With Impulsive Effects

In recent years, Multi-agent technology has attracted different disciplines ofresearchers from different fields. As the basis of Multi-agent technology, consensusproblem have received significant attention. Consensus problem is to establish anappropriate model for multi-agent system and to design effective protocols or algorithmsso that all the agents of multi-agent system can reach consensus. In this dissertation, thealgorithms for first-order and second-order multi-agent system are studied based onimpulsive control method over delayed networks. The main work and research results areas follows:First of all, by employing the impulsive control theory on delayed dynamical system,two consensus protocols for first-order delayed multi-agent system are investigated. Theconvergence analysis for the first protocol over stochastic switching topologies is provided,and some sufficient conditions to guarantee the consensus over undirected and directednetworks are also established. And it is shown that a directed delayed multi-agent systemcan achieve consensus globally exponentially by designing suitable impulsive interval andcommunication delay. The first protocol has much constraint on the communication delay,in order to obtain more general results, we design the second kind of protocol, which isvalid for any communication delays.Secondly, we study flocking of delayed multi-agent system via impulsive control andpropose a consensus protocol with a leader based on the rule of Reynolds. We analysis thisprotocol and establish some sufficient conditions for consensus over undirected networkstopology. It is shown that under this protocol, the velocity of all the agents can converge tothe velocity of the leader and collision can be avoided.Finally, in reality, the communication among agents is not continuous due tounreliable communication link. Besides, most of systems are nonlinear in nature. Wepropose a nonlinear algorithm for delayed multi-agent system based on intermittentcommunications. We analysis this problem over fixed and switching topologies,respectively. And we establish some sufficient conditions for consensus as well asdiscussing the relationship among control period、communication time duration and timedelay.