Reseach On Consensus Problem Of Multi-agent Systems

The research on multi-agent systems has become a hot topic in the field of control, due to rapid technological advances in communication and computation and wide applications in engineering, biology and economics. In this thesis,consensus problems of multi-agent systems are investigated, and stability conditions and designrules are derived. The detailed contents contain two parts:Rotating consensus problem of multi-agent systems in an elliptical orbit and The consensus problem of continuous-timemulti-agent systems with multiple time-delays.(1) Rotating consensus problem of multi-agent systems in an elliptical orbit. This thesisfirst constructs double integral multi-agent systems and introducesthe relationship between the circles and ellipses. And then, this thesisdefines rotating consensus problem in an ellipticalorbit,and proposes a protocol for rotating of the system.This thesis gives the mathematical basis when the system is stable in Hurwitz.According to the theory of linear,this thesis changes the consensus problems into the stability problems. Thus, this thesis achieves on a rotating consensus condition in an elliptical orbit. Finally,the simulation results are provided to demonstrate the effectiveness of our theoretical results.(2) The consensus problem of continuous-time multi-agent systems with multiple time-delays.This thesis first construct double integral multi-agent systems. And then, this thesisdefinesconsensus problem and consider the relationship between the velocity and position.At the same time, this thesisproposes a protocol of the system and establish the state equation. According to the frequency domain analysismethod, this thesis proofs just one zero eigenvalue of characteristic equation and othereigenvalues are all in the negative half-plane when the time-delay is zero.Through the analysis of a new function, this thesis getsa jw eigenvalue in the imaginary axis when the time-delay isn’t zero. According to the theory of linear,this thesis change the consensus problems into the stability problems and obtain the time-delay range. Finally, the simulation results are provided to demonstrate the effectiveness of our theoretical results.