Research On Several Control Schemes Of Consensus In Multi-agent Networks

At present,as the rapid development of multi-agent network technology,the research of consensus has attracted the attention of many domestic and foreign scholars.It has been also widely applied in many fields such as formation control,swarming,UAV's coordinated control,filter in sensor network and intelligent transportation.In practice,environmental factors,practical maneuverability and economic costs all affect the achievement of consensus.In order to achieve consensus of the actual factors,researchers begin to turn their energies into the design of appropriate control algorithms.On the basis of many scholars' discussion,this thesis further designs and studies the control algorithms.The main innovations are as follows:(1)On the research of consensus,most researchers only discuss a layer of network.This thesis includes the leader network and the follower network,which contain the same number of agents and the two networks are aperiodic intermittent communications.At the same time,it is innovative for this thesis to design the time-varying pinning control scheme.Based on algebraic graph theory and Lyapunov stability theory,we give the conditions for consensus of the two networks under the pinning control,and obtain the requirements for the communication intervals of the networks.(2)The great majority of the research results on the consensus of second-order multi-agent network are based on continuous transmission of information.There are some literatures that consider the intermittent communication of information.However,there are not many literatures on discussing the consensus of second-order multi-agent network of intermittent communication by using the event-triggered control algorithm.In this thesis,we design a centralized event trigger control method for the second-order nonlinear multi-agent networks.By constructing a Lyapunov function,we put forward the sufficient conditions to achieve consensus of the second-order multi-agent networks under intermittent communication.Furthermore,it is proved that the trigger time interval of the centralized strategy is strictly greater than zero.So we can eliminate the Zeno phenomenon.Finally,we use the mathematical software to prove the validity of the theory.It can be seen that the proposed strategy can reduce the controller update and the control cost.(3)Recently,most of the consensus algorithms can not make state consensus in a finite time,that is,consensus is achieved asymptotically.In real life,it has high requirements for convergence precision and speed.For this actual situation,this thesis studies the problem that can eventually reach a bounded consensus in a finite time,and proposes a discrete event-triggered control algorithm based on sampling information.By constructing a Lyapunov function and using linear matrix inequalities,the sufficient conditions for achieving finite-time control of linear multi-agent networks and nonlinear multi-agent networks are obtained respectively.