Robust Consensus And Containment Control Of Multi-agent Systems With Communication Time-delay

With the arrival of the era of artificial intelligence and big data,centralized strategy is dif-ficult to adapt to the need of massive data concurrency calculation and processing,researchers urgently need to store a large amount of data into multiple subsystems for distributed computing,so the application of distributed multi-agent system is more realistic.From the application area,the usage scenarios of multi-agent systems can be divided into two major aspects:military ap-plication and civil application,such as flight formation,smart grid and so on.In the research of multi-agent systems,consensus is a very basic problem,and it also plays a key role in the maxi-mum application value of multi-agent systems.Therefore,it is necessary to design efficient and fast cooperative control protocol.When there are more than one leader,the consensus problem is transformed into containment control problem.Because of the limitation of single leader's ability and the communication bandwidth between the agents,the follower directly connected with the single leader has a great communication burden and other risks.It is also meaningful to study the containment control problem.Therefore,this thesis mainly analyzes the leader-following consensus and the containment control problem.The main innovations are as follows:Based on output feedback,the leader-following consensus problem of high-order multi-agent systems is studied.Designing the controller that does not need relative state information of neighbouring controller,by the equation transformation,the observer dynamics error and the tracking dynamics error are coupled into a closed-loop error system.Based on the pole placement and Lyapunov stability theory,the controller and observer gain are designed by using MATLAB toolbox and the sufficient conditions for the stability of the system are given to make the multi-agent systems reach leader-following consensus.In view of the fact that the actual physical system is mostly nonlinear system and considering the influence of communication topology,external disturbance and communication delay on the performance of the system,the nonlinear multi-agent systems H_?containment control problem with communication delay is studied.By the singular value decomposition,the containment control problem is converted into an closed-loop system asymptotically stable problem and a appropriate Lyapunov function including a double-integral term is constructed.The controller and observer gain are designed to ensure that the followers can converge to the convex hull surrounded by the leaders.Under the directed communication topology,the containment control problem of asyn-chronous multi-agent systems with stochastic disturbances is studied.As both the process of identifying active subsystem and switching matched controller need time,the controller switch-ing usually lag behind the system switching.By employing the It?'s differential formula and elementary transformation of matrix,a closed-loop error system is constructed.Based on the controller switching signal,a multiple Lyapunov function is constructed and the closed-loop sys-tem eventually converges exponentially in mean square sense,so the asynchronous multi-agent systems can reach containment control.