Research On Fast Consistency Of Multi-agent System

More and more applications of multi-agent cooperative control have made more people aware of the advantages of such systems..In recent years,it has been recognized that a single agent can just accomplish limited task,and the efficiency of completing tasks often can't meet the requirements of actual engineering,so people are more enthusiastic about multiple agents working together and efficiently completing tasks that a single agent can't accomplish.Consistency research is the basis of multi-agent collaborative control research,and improving consistency control method is also an effective way to improve the efficiency of collaborative control.This theisfocuses on the improvement of multi-agent consensus protocol,and tries to speed up the convergence of states,and then introducing formation position error to construct formation control input.The main works are listed as follows:Firstly,a UAV model is simplified as a second order agent model by feedback linearization.Using the knowledge of multi hop networks to add virtual connections to the network topology,which can increase the algebraic connectivity without physically adding or changing any edges inthe graph.Using matrix analysis and algebraic graph theory,a sufficient conditions for system states to be consistent are given.Furthermore,the formation position error is introduced to construct the formation control input.The traditional control method and the improved control input in this chapter are simulated.The comparison of the two simulation results highlights the efficiency of the method in this chapter.Secondly,formation control problem of multi-agent system is studied for second order multi-agent systemwhen the input delay and communication delay exist simultaneously.The control strategy not only consider the deviation between the actual speed and the standard speed,on the basis of this,consider the deviation between the actual displacement and the standard displacement.In the input term,the input time delay is considered,and the communication delay is considered in the interaction.Finally,based on the improved consensus protocol with input delay and communication delay,a fast formation control method for multi-agent systems with input delay and communication delay is constructed.The traditional control method and the improved control input in this chapter are simulated.The comparison of the two simulation results highlights the efficiency of the method in this chapter.Thirdly,fast finite time formation control method is proposed to solve the problem of longer time required for state convergence in the finite time formation control of a multi-agent system.Compared with traditional finite time control method,an asymptotic stability term of the absolute position deviation of each agent is introduced into the consensus protocol.Based on obtained consensus protocol,a fast finite time formation control method for multi-agent systems is constructed.The traditional control method and the improved control input in this chapter are simulated.The comparison of the two simulation results highlights the efficiency of the method in this chapter.