Research On The Consensus Of Multi-agent System Based On Two-hop Relay Protocol Within Complex Environments

Because of its high working efficiency and wide potential application fields,multi-agent system has attracted more and more attention of experts and scholars all over the world.The research on multi-agent system has become an important branch in the field of control.Moreover,most of the research on multi-agent system can be converted into the consensus control,so the consensus control of multi-agent system has very important theoretical and practical significance.Based on two-hop neighbor network communication topology,this thesis has mainly studied on the consensus control algorithms of multi-agent system within complex environments.Specific contents are summarized as follows:Firstly,combining the idea of two-hop communication and the traditional adjacency network topology,we can obtain two-hop neighbor network communication topology,in which each agent can get the information not only from its neighbor,but also from its neighbor's neighbors.According to different models of the system,this thesis has proposed corresponding consensus algorithms and consensus tracking control protocols which are based on the obtained communication topology.By improving the algebraic connectivity of network communication topology,these control algorithms increase the uniform convergence speed and improve the working efficiency of the system.Secondly,in order to solve time-delay problems of the system within complex environments,such as communication delay caused by limited communication conditions like communication bandwidth,signal transmission speed,communication range,and input delay due to the signal processing,based on the existing basic consensus algorithms,this thesis has investigated related consensus control protocols and formation algorithms of the first-order and second-order multi-agent system.Finally,measurement noises existing in communication processes among the agents are also considered.A kind of consensus algorithm of multi-agent system which is based on two-hop neighbor network communication topology and ralated to measurement noises is proposed.Then,theoretical proof and simulation results show the robustness and effectiveness of the proposed algorithm.