Research On Consensus Of Multi-Agent Systems

In recent years,a lot of achievements have been made in the research of the consensus of multi-agent systems.These achievements have been widely used in unmanned aerial vehicle formation,robot system,automated factory,navigation and military fields.In the near future,the consensus control of multi-agent systems will play a more important role in various fields.In the specific research process,how to design the appropriate consensus control protocol is the key to the problem.In addition,time-delay,quantization,packet loss and other issues may happen in the process of realizing the consensus of the system.Taking many factors into account,the main research contents and innovative achievements are as follows:1.For the general network topologies,the consensus of three order multi-agent with probabilistic quantizer is studied.First,without the quantization effect,the necessary and sufficient condition for the system to achieve consensus is given by using the complex coefficient polynomial theory and the system property;Second,the quantization effect on the agent communication is considered while a probabilistic quantization scheme is adopted.Firstly,given the system parameter condition,the necessary and sufficient condition of the system stability is provided by combining the property of probability quantization;Then,with the existence of quantization effect and excessive energy consumption,the event-triggered control method is used to reducing the energy consumption of the system and a reasonable event-triggered condition is given in advance.Furthermore,the matrix theory and the complex coefficient stability condition are used to proof the practical consensus of system.Finally,numerical simulation results are provided to illustrate the effectiveness of the proposed control schemes.2.For the first-order discrete time system with the second-order neighbours'information network topology,the event-triggered control strategy is adopted to reduce the energy consumption of the system with limited energy consumption and without communication time-delay.In addition,the reasonable network topology connection condition is used to ensure the system can achieve couple-group consensus.Secondly,the system can be divided into two cases when considering the influence of communication time-delay:fixed and time-varying communication delay.In the two cases,the sufficient conditions for system stability are obtained by using the Lyapunov method,and the intractable problem of time-varying delay is properly handled by choosing the appropriate Lyapunov function.For the second order discrete-time system with limited energy and no communication time-delay,the event-triggered strategy is used and the appropriate trigger function is designed in advance.A reasonable network topology connection condition is used to ensure the system can achieve couple-group consensus.Then,when the time-varying delay is considered in the system,the sufficient conditions for the stability of the system are obtained by using the Lyapunov method.In the case of more complex system,the time-varying delay problem is well handled by choosing the appropriate Lyapunov function.Finally,the simulation example is given to demonstrate the effectiveness of these algorithms.