Several Research On Group Consensus Of Multi-Agent Systems

Recently,a growing number of attention have been paid to the study of coordination control problem of multi-agent system.Being a core problem of coordination control domain,consensus theory is taken into account by scientists and widely put in use in many fields,such as information synchronization in multi-sensor networks,distributed calculating over computer cloud networks,formation control of multiple unmanned aerial vehicles and so on.Second-order system is one of the most important model of multi-agent consensus issue,which could make more sense in some engineering application than first-order system and heterogeneous multi-agent system.As a new research topic in past years,group consensus problem analyze the topological structure of multi-agent networks,which means some kind of balance where agents in one group reach consensus and agents from different groups hold off.This thesis,based on previous research of scientists,established the mathematical model and studied second-order group consensus problems of multi-agent system in methods of matrix theory,algebraic graph,lyapunov stability theory,LMIs and so on.Firstly,group consensus problem for second-order multi-agent dynamic system with time-varying delays is investigated,where agents are governed by fixed network.A second-order model is established and some control protocol has been improved from several previous work.By model transformation,some sufficient conditions in form of LMIs for reaching group consensus are proposed.A simulation based on directed graph is provided to demonstrate the effectiveness of theory.Furthermore,for the limitation of single time-varying communication delay on some occasion,simultaneously there is few research on multi-agent system combined with multiple time-varying delays,topic about multiple time-varying delays on group consensus problem is investigated.Based on the mathematical model and error system in last chapter,a new control protocol is designed while obtaining great conservativeness.Related results are promoted from two-group consensus to multiple group consensus.The effectiveness of theorem is verified by numerical example on case of directed graph and fixed network topology.As we know,some force majeure issues happening during communication process can cause packet loss.In this paper,group consensus problem based on second-order multi-agent system with packet loss process is investigated.The loss of data is governed by a Bernoulli process and group consensus coordination control protocol is established.Some results based on LMIs are provided and the simulation of different packet loss probability shows that the result has great effectiveness.