Communication-constrained Constraints Consensus Study For A Class Of Second-order Multi-agent Systems

Due to the wide application of multi-agent systems in the coordination and control of aircraft formations,distributed sensor networks,robotics teams,etc.,research on multi-agent systems consensus has received much attention in the past few decades.A common feature of such applications is that all agents must agree to exchange information only with their neighbors.It is worth mentioning that multi-agent systems consensus control has always been an active research field,attracting many researchers from mathematics,physics,biology,and control science.The goal is to ensure that a group of agents can achieve challenging tasks with low cost,high adaptability and easy maintenance through communication between adjacent agents.At the same time,in many real-world applica?tions,it is more practical to consider the consensus of multi-agent systems under com?munication constraints.This paper mainly studies the second-order multi-agent systems consensus based on communication-constrained constraints.The main work includes:1.Firstly,fixed-time consensus tracking problems under directed interaction topolo?gies for second-order non-linear multi-agent systems with disturbance and second-order multi-agent systems with input delay are investigated.Two continuous integral terminal sliding modes are designed,which can effectively eliminate the singularity and chattering.Correspondingly,two fixed-time distributed control protocols aie proposed based on the designed continuous integral terminal sliding modes to ensure that the consensus tracking are achieved in fixed-time.It is shown that the upper bounds of settling time are regard-less of initial conditions.The rigorous proofs are given by employing Lyapunov stability theory and fixed-time stability theory.Simulations are provided to verify the effectiveness of the theoretical results.2.Secondly,The consensus of second-order multi-agent systems based on random sampling and event-triggered is studied.Considering Euler-Lagrange system as a special second-order system,we study the consensus problem of this special second-order multi-agent system,where the data are randomly sampled and the topology has a directed span-ning tree.Aiming at the consensus of the system,an event trigger control protocol based on random sampling data and improved time-dependent threshold is proposed,which can effectively reduce data transmission.Under some reasonable assumptions,based on the proposed event-triggered control protocol,a sufficient condition is derived to ensure the consistency of multi-agent systems.