The Consistency Of The Multi-agent System Study With A Leader

In recent years, multi-agent systems is more and more widely used in military, civil, and many aspects of science, and its distributed cooperative control has gained significant attraction. The consensus problem is one of the basic problems of multi-agent system in the distributed control research. What’s more, it is also the basis of some other coordination control problems. The consensus problem of multi-agent systems in leader-follower structure is an important part of the problem. The study of the convergence rate, which is focused on the consistency of the multi-agent system with leader, is of great practical meaning. This paper mainly studies the node tracking consistency problem of the multi-agent system with leader-follower, and a state predictor is added to accelerate its consistency speed.The research of multi-agent system is developing rapidly. This paper first introduces the related problems in the field of the research background and research status at home and abroad, secondly, the basic knowledge and theory is given to do the corresponding research. Then improvement and innovation is made based on the basic theory. Simulation experiment validate the effectiveness of the method. Summary and prospect were made in the end.The main work and innovations of this paper are summarized as follows:First, node to track consistency problem of the first-order multi-agent system with leader-follower is discussed. The consistency protocol of the first-order system is designed, combining with the predictive control, can accelerate the convergence rate of group status. Simulation shows the great performance of the method.Second, the node tracking consistency problem of the second order multi-agent system with leader-follower is discussed. State predictor is added in the design of the agreement, and the simulation results show the effectiveness of the state predictor.