The Research On Consistency And Application Of Multi-Agent Systems Cooperative

With the development of sensor technology, distributed control technology and multi-agent system (MAS) control technology has attracted a growing number of researchers. Cooperative consistency problem of multiple agent has become a hot area of research in today's issue of control.The MAS system is composed of a number of homogeneous or heterogeneous agents, which can realize the information sharing through a certain communication link. The consistency of the MAS system is the design of the distributed network control protocol, which makes the state or output of each agent tend to be consistent.The distributed network control protocol of MAS system mainly includes first order protocol and two order protocol. In contrast, the two order protocol can achieve the same displacement and speed of each agent, so it is more practical and representative, but the corresponding consistency requirements are also more stringent. However, most of the existing control systems are continuous systems, but in practical applications, the network communication bandwidth is limited and the data communication transmission is adopted in the form of discrete sampling, Therefore, the study of discrete distributed control protocol has more application value. In addition, due to the real distributed control system, the limited communication bandwidth will inevitably bring about communication delay and in addition to the communication module with a discrete form and other continuous dynamical system module, so the study of hybrid distributed control protocol is imperative.Based on the above analysis, this paper designs a distributed network control protocol based on finite time iteration for a class of uncertain discrete MAS dynamic systems with communication links. The results show that, as long as there is a directed spanning tree to the communication network topology, and the iterative gain matrix satisfies some convergence conditions, the running state of each agent can be consistent with the finite iteration step.On the basis of the above research, this paper designs a distributed pulse control protocol with time varying communication delay for a class of hybrid MAS system, and applies it to the two stage voltage frequency control of micro grid. The results show that, as long as the control variables are directed to the communication network topology to meet certain connectivity conditions, even if the communication delay is greater than the length of the pulse interval, the controlled system is still stable. In addition, through the simulation of different communication topology analysis, in the case of the same weight and time delay, the controlled system in the star type communication graph has the fastest convergence velocity and tree topology communication figure times and annular connecting topology is the slowest. This is related to the connectivity of the each communication topology. Star topology has the highest connectivity, but its robustness to the single point failure is also the worst, which requires the system convergence speed and even the failure of the robustness of the overall decision.