Consensus Research Of Complex Multi-Agent Systems With Dynamic Networks

Recently, distributed cooperative control of multi-agent systems has attracted great attentions in the fields of control theory, mathematics, computer science, etc. It has been applied in both military and civilian sectors, such as formation control of mobile robots, cooperative control of unmanned spacecraft, attitude adjustment and position of satellite, and scheduling of smart power grid systems, etc. Consensus and containment control are two important research problems of distributed cooperative for multi-agent systems. Consensus of multi-agent systems means to reach agreement state of each agent through interaction and coordination with the evolution of time. Containment control has been paid much attention as a kind of extended consensus problem with multiple leaders, which aims to allows followers eventually converge to a target area(convex hull formed by the leaders) by designing a control protocol of follower.This paper mainly focuses on the consensus problem of complex multi-agent system under dynamic networks and gives the control protocol and stability analysis of multi-agent systems. The paper’s mainly research work is as follows1. Flocking motion of dynamic networked systems with multiple leaders. Control algorithms are presented for the first-order and second-order networked systems with multiple leaders and time-varying dynamic switching topologies. By applying modern control theory and algebraic graph theory, the flocking motion of networked systems with jointly-connected topologies is studied, and the flocking motion control of networked systems is obtained, i.e., trajectories of multi-agent systems are converged to the convex hull formed by multiple leaders. Through further researching the connected portion of networked systems, the constraint condition of flocking motion control for second-order networked systems is achieved.2. Containment control for multi-agent systems with time-varying delays and dynamic switching topologies. Containment control problem for first-order and second-order multi-agent systems with time-varying delays is investigated. Suppose system topologies are dynamic changed and jointly-connected, containment control algorithm of multi-agent systems with multiple leaders is proposed. By applying modern control theory and algebraic graph theory, containment control of multi-agent systems with jointly-connected is analyzed on Lyapunov-Krasovskii method. Through further researching the connected portion of multi-agent systems, the constraint condition of containment control for multi-agent systems with time-varying delays is achieved. 3. Containment control for multi-agent systems with time-varying delays and uncertain topologies. Containment control of first-order and second-order multi-agent systems are studied considering uncertain topologies and communication time-delays. Suppose system topology is dynamic changed, containment control algorithm with time-varying delays is proposed. The stability of the proposed distributed containment control algorithm is studied with the aid of Lyapunov-Krasovskii function under the assumption that the communication topology is jointly-connected, and some sufficient conditions in terms of linear matrix inequalities(LMIs) are given for containment control of multi-agent systems. 4. Mean square containment control of multi-agent systems with dynamic switching topologies. Containment controls of first-order and second-order multi-agent systems with switching topologies and communication noises are studied. Two containment control algorithms with multiple leaders are presented, where a positive time-varying gain is employed in the protocol to attenuate the effect of noises. The stabilities of two control algorithms are studied with the assumption that the communication topology is jointly-connected, and some constraint conditions of multi-agent systems are derived with the aid of modern control theory and stochastic analysis.