Research On Consensus Problem Of Multi-agent Systems Based On Event-triggered Mechanism

The collaborative control problem of multi-agent systems is a multidisciplinary field.It has various applications in industry,such as formation control,unmanned aerial vehicles,sensor networks,etc.Therefore,the researchers in different fields focus their attention on multi-agent systems.The consensus problem is the basis and prime problem in the multi-agent systems theory research,which mainly research how to design the control protocol making the agent's state information converge to the same value.This paper consider using periodic event-triggered control protocol.The agent's state information is tested only periodically,and the agent will exert the control behaviors only if the current state information satisfy the event-triggered condition.For the purpose of reducing the energy consume,a new event-triggered condition is proposed.Using the knowledge of algebraic graph theory and Lyapunov stability criterion to deduce the condition of multi-agent systems' consensus problem.Then,the effectiveness of theoretical results is demonstrated by MATLAB simulations.The periodic event-triggered control protocol with new event-triggered condition can significantly reduce the number of control input updates comparing with other event-triggered condition in previous works.In practical systems,the time delay between agents is unavoidable.Therefore,this paper also consider the condition of multi-agent systems with time delay.Under the new event-triggered condition,we use algebraic graph theory and Routh stability criterion deducing the condition of multi-agent systems' consensus problem.Then,simulations results are presented to verify the correctness of condition and the effectiveness of protocol.