Coordination Problems Of Stochastic Multi-Agent System

Recently, coordination problems of multi-agent system have attracted a great deal of attention in many fields.This is due to the broad applications of multi-agent systems in many areas,such as flocking problems, unmanned aerial vehicles control,queue control and consistency satellite constellation attitude control,etc. Coordination problems of multi-agent system study how the group reach the same state only using local information exchange of the individual.Noise is very common in the real world.The movement of the system inevitably is affected by noise and other environmental factors.In this paper,we consider the impact of the noise and time-delay on coordination problems of multi-agent system.Main contents are as follows :In chapter one, some background knowledge and relative developments are introduced.At the same time,we give some preliminaries including the basic stability theory of ordinary differential equations, stochastic differential equations,and graph theory, which will be used in this paper.In chapter two, the stochastic consensus problem of time-delayed multi-agent system is investigated.The influence of measurement noise is considered. By using the stability theory of stochastic differential equations, sufficient conditions for the almost surely consensus are derived.In chapter three,the finite-time stochastic consensus problems of leader following multi-agent system is investigated.By using the finite-time stability theory of stochastic differential equations,sufficient conditions for the consensus in finite time are derived.The effects of control parameters and noise strength on the convergence time are analyzed.In chapter four,we investigate the finite-time flocking problem of Cucker-Smale systems.We propose a continuous non-Lipschitz protocol for realizing flocking in finite time.Our results show that the individuals in the groups with high density can transit rapidly to ordered collective motion.In chapter five,the finite-time flocking of Cucker-Smale system with noise perturbation is investigated.By using the stability theory of stochastic differential equations, sufficient conditions for flocking are derived. It is show that when noise intensity is lower than a critical value, the convergence time of the system reduced with the increase of noise strength.In chapter six, we make a brief summary on this thesis and prospect for further research on coordination problems of multi-agent system.