Consensus Analysis And Synthesis Of Multi-agent With Several Communication Topologies

In recent years,the multi-agent system consensus problem has attracted the attention of scholars in the complex system control field.Multi-agent system consensus is that all agents arrive a common state with the information exchange that is decided by communication control protocol.Different ways of communication in the process of consensus make different communication topologies in the multi-agent system.And different communication topologies have important effect in the multi-agent system consensus process.At the same time,the Lure multi-agent system is a kind of complex dynamic network system in the reality,and it is meaningful to investigate the consensus of Lure multi-agent system.This article selects the Lure multi-agent system as the research object,investigates the consensus problem of the Lure multi-agent system with several different topology.The main research results is as follows:(1)The consensus problem of Lure multi-agent systems with the leaderfollower topology is considered.According to the characteristics of the leaderfollower topology,the error system between follower agents' state and leader agent'state is achieved.Choosing suitable lyapunov function and using the S process to the Lure system nonlinear factors,a sufficient condition of multi-agent systems consensus is achieved and the corresponding static output feedback controller is designed.Finally,a numerical example is given to demonstrate the efficiency of the proposed schemes.(2)The consensus problem of multi-agent system with leader team-follower topology is investigated.In the leader team,its communication topology is connected.Meanwhile,for each follower in the network,there exists at least one leader of leader team that has a directed path to the follower.By selecting suitable lyapunov function,with the partial element stability theory,S process,and the methods of multi-objective containment control,the possible situations in the process of consistence of multi-agent systems under leader team-follower topology are considered,and the sufficient conditions of consistence and its corresponding static output feedback controller are obtained.Finally,the numerical example is given to demonstrate the feasibility of the method.(3)The mean-square consensus problem of a Lure complex dynamical network system with Markovian switching topologies,topology uncertainties and timevarying delays is considered.By using the linear matrix inequality method,we can get the error system.By selecting suitable lyapunov function and using the partial stability theory,S process,sufficient conditions of the exponentially meansquare consensus are obtained.Moreover,a novel static output controller has been designed to make the system achieve mean-square consensus exponentially.Finally,a numerical example is presented to illustrate the efficiency of the proposed methods.