Hybrid Dynamic Triggering Control For Consensus Of Distributed Multi-agent Systems

In recent years,with the rapid development of distributed network system,the analysis of multi-agent systems have been extensively investigated by various researchers from multiple areas.Compared with the traditional single control system previously,multi-agent systems are famous for low operational cost,high reliability,easy to implement and maintain and other superiority.Thus why these systems have been widely used.However,Because the agents in multi-agent systems have limited computing power,energy and communication range.In addition,the bandwidth and resources of the communication network in the whole systems are also constrained,which makes the control and design of the multi-agent system become more complex.This paper,we have been introduced the event-triggered mechanisms to reduce the cost of communication and computing resources,meanwhile guaranteeing the consensus of multi-agent systems.These are the major researches as follow:Firstly,A new internal dynamic variable is introduced on the basis of multi-agent distributed event-triggered mechanism.The value of the dynamic variable is affected not only by the current states of the agents,but also by the previous states of the agents.In the previous event-triggered control,the triggering condition of the agents are only affected by the current states and the error of the the agent without any connection with the previous states of the agents,the trigger conditions have certain constraints.By introducing an internal dynamic variable of the systems the trigger conditions will be more operable.Secondly,in the consensus analysis of linear multi-agent system,a trigger mechanism for output feedback has been proposed.The trigger conditions can be used to the systems,which measurement of system is difficult to get,but in most of the control systems,the output value of the system is always easier to get.Therefore,the application of event triggered control based on output feedback will be widerly used.Finally,event triggered mechanism in multi-agent systems’ control has got great convenience,but it is difficult in the process of the theory research methods of proof about zeno’s behavior.This paper proposes a mechanism based on the hybrid triggering control,the trigger mechanisms can avoid the agent occur zeno behavior in the systems,so it achieves the control objectives of the requirements.