Research On Consensus Conctrol Of Several Kinds Of Multi-agent Systems

The multi-agent systems can realize the control objective that every single agent system cannot achieve by employing the distributed control technology.It is widely used in biological system,formation control of unmanned aerial vehicle and mobile robot,allocation control of cluster and network resource and other fields.The consensus problem is the fundamental problem of multi-agent system research.The consensus of multi-agent systems is that the states or outputs of agents can reach an agreement based on information communication amount agents.This paper mainly investigates the consensus problem for several kinds of high-order multi-agent systems.The main results are given as follows:In third chapter,the finite-time cooperative tracking issue for nonlinear multi-agents systems with stochastic disturbances is addressed.Different from the existing asymptotical stable control,the finite-time cooperative control can ensure the outputs of agents reach agree in finite time by raising a novel finite-time stability criterion.Moreover,a new adaptive quantized control strategy is designed to reduce communication burden.Finally,it is testified that the tracking errors converge to a small area of the origin in finite time under the control scheme.In fourth chapter,the quantized cooperative control problem for multi-agent systems with unknown gains in the prescribed performance is studied.Different from the finite-time time control,a speed function is designed to realize that the tracking errors converge to a prescribed compact set in a given finite time for multi-agent systems.A distributed controller and adaptive laws are constructed based on the Lyapunov stability theory and backstepping method.Finally,the effectiveness of proposed approach is illustrated by some simulation results.In fifth chapter,for high-order nonlinear multi-agent systems with actuator failure,the event-triggered consensus control problem is addressed.In designed progress of controller,we use an intermediate variable to embed event-triggered control signal to the actuator fault model by combining Lyapunov stability theory and backstepping method.It is proved that the designed distributed controller can ensure that systems are stable and there is no Zeno behavior.Finally,the simulation results of Matlab are presented to illustrate the effectiveness of the approach proposed.