Research On High Performance Consensus Problem Of Multi-agent Systems With Imprecise Communication Topology

Based on the T-S fuzzy system control theory,this paper studies the consensus of multi-agent systems(MAS)with imprecise topology structure.This paper mainly divided into two parts:the first part,the study the asymptotic consistency problem of multi-agent systems with imprecise communication topology,the second part,the study precise consensus of firstorder and second-order MAS with imprecise communication topology on the finite time.The main contents are as follows:In the first part,we firstly study the distributed adaptive consensus of a class of linear parameterized multi-agent systems with imprecise communication topology.The T-S fuzzy model is used to describe the inaccurate topology between the agents.Based on the Lyapunov stability theory,a distributed fuzzy adaptive control protocol is proposed.The proposed protocol guarantees that the follower agents can track the leader.Simulation examples are given to illustrate the effectiveness of the proposed method in this study.Secondly,the study a class of first order linear parameterized MAS with unknown control directions and imprecise communication topology.T-S fuzzy system theory and Nussbaum gain technology are used to study the imprecise communication topology and unknown control direction of MAS,a fuzzy distributed adaptive control protocol is designed,which enables all the follower agents can track the leader.At the same time,the problem of formation control can be solved by the same method.Simulation examples are given to illustrate the effectiveness of the proposed method in this study.The second part,we investigate the perfect consensus problem for first-order and secondorder linearly parameterized MAS with imprecise communication topology structure,respectively.T-S fuzzy models are presented to describe the imprecise communication topology structure of the leader-following MAS,and a distributed adaptive iterative learning control(ILC)protocol is proposed with the dynamic of leader unknown to any of the follower agent,the proposed protocol guarantees that the follower agents can track the leader perfectly on [0, T] for consensus problem.Under alignment condition,a sufficient condition of the consensus for the closed-loop MAS is given based on Lyapunov stability theory.Simulation examples are given to illustrate the effectiveness of the proposed consensus algorithm.