Consensus Tracking Of Multi-Agent Systems With A Leader Of Control Input

In recent years,the cooperative control of multi-agent systems has drawn much attention due to its wide range of applications.It not only reveals the essence of many complex systems in nature,but also has a wide range of applications.Consensus is one of the most important issue in the collaborative control of multi-agent systems.In this paper,we study the consensus problem for multi-agent systems with external disturbances,and the leader has a bounded input.The main contents are as follows:The first chapter is introduction,which introduces the research background and significance of multi-agent system,and then gives the research dynamics and current situation of multi-agent system.Finally,the first chapter introduces the research content and the arrangement of each chapter.The second chapter is the basic theory part needed for the research work of this paper.Algebraic graph theory is one of the necessary tools to study the consistency problem of multi-agent systems.Therefore,the basic knowledge of directed graphs in algebraic graph theory is introduced.Then,the definition and properties of Kronecker product are given.Finally,the mathematical symbols appearing in the text are explained.In the third chapter,the consensus of the multi-agent system under the directed communication topology is studied.Considering the external interference of the system,a distributed static containment controller is given.By constructing the appropriate Lyapunov function,applying the Schur Complement lemma,we know the conditions that make the system consistent.Numerical simulation is provided to demonstrate the theoretical results.The fourth chapter continues the research content of the previous chapter,improves the control protocol,and gives the adaptive consistency tracking control protocol.By constructing the appropriate Lyapunov function,we know the conditions that make the system consistent.Numerical simulation is provided to demonstrate the theoretical results.