Consensus Problems Of Multi-agent Systems With External Disturbances

The consensus of multi-agent system is an important problem in the field of sys-tems and control, it not only reveals many physical phenomena in nature, but also has a very wide application background. In this paper, through designing different consensus protocols, Consensus for finite-time consensus problems and higher-order multi-agent networks with external disturbances are studied respectively, the con-sensus conditions are obtained. The main contents in this paper can be summarized as follows:The first section is introduction, in which we introduce research background, purpose and significance of consensus problem of multi-agent system, and then give the research dynamic and direction. Finally the research contents and chapter ar-rangement of this paper is also presented.Section 2 gives some preliminary knowledge. The necessary knowledge to estab-lish mathematical model of multi-agent system which called algebraic graph theory, the basic definitions theorems and some useful math marks are simple introduced in section 2.In section 3, finite-time consensus problems is analyzed, the consensus proto-cols and the consensus conditions are given. By employing the method of finite-time Lyapunov functions, we derive conditions that guarantee the two protocols to solve the finite-time consensus problems respectively. Finally, some examples and sim-ulation results are given to illustrate the effectiveness of the obtained theoretical results.In section 4, a class of consensus protocol for detail-balanced networks of agents with higher-order Lipschitz-type nonlinear dynamics and external disturbances is in-vestigated. By appropriately constructing Lyapunov function and using tools from M-matrix theory, some sufficient conditions for achieving distributed consensus are provided. Finally, a example and simulation result is given to illustrate the effec-tiveness of the obtained theoretical result.