Cluster Consensus Of Multi-agent Systems With Exogenous Disturbances

Collective behavior is a common phenomenon in nature and society.People have considered applying collective behavior to the control field.At present,the research on cluster consensus of multi-agent systems has developed rapidly and has achieved a lot of results.This paper mainly focused on the multi-agent systems with exogenous disturbances to study the cluster consensus problem of the system by using numerical simulation analysis.The main work is as follows:For the general multi-agent system,we considered the case of multi-agent systems with exogenous disturbances,and studied the cluster consensus problem under the topology acyclic partition.In this paper,a disturbance observer was designed so that when E +HBF was a Hurwitz matrix,the error of the observer eventually approached zero with time.Then the consensus control protocol was designed.And,we obtained the sufficient conditions for the multi-agent system to achieve cluster consensus under the topology with acyclic partition by using the useful tools such as Lyapunov stability theory.Finally,we given an example to validate the theoretical results by numerical simulation.The network of each cluster could be allowed to take a relaxed topological structure,and the cluster consensus problem of the multi-agent system with exogenous disturbances under the directed topology was studied.Firstly,based on the situation that the systems was subject to exogenous disturbances,we designed a disturbance observer.Then we designed a consensus control protocol,and used useful tools such as graph theory and matrix theory to obtain the sufficient conditions for the multi-agent system to achieve cluster consensus.We proved that the systems can achieve cluster consensus by designing a suitable consensus protocol if induced topology of each cluster has a directed tree,and compared with the strength of the coupling between different clusters,the coupling within each cluster was strong enough.Finally,we validated the theoretical results by simulation analysis.