Research On Intermittent Control Schemes Of Second-Order Consensus In Multi-Agent Systems

There are a lot of phenomena in nature,for instance,herds and fish,which is in the high speed of moving,maintaining a neat formation,the fireflies in the air shine and go out at the same time,the migratory birds in the migrating season maintain a fixed flight formation,these phenomena make a lot of people discuss about the consensus,and they apply it into the reality.At present,the consensus of multi-agent is a hot topic in the field of the coordination control,such as how to implement formation of unmanned aircraft,how to conduct coordination control of robots and sensor network control.Especially,the research about the consensus of second-order multi-agent is more wide,the research of first-order multi-agent system model only about is the speed of the agent,the second-order multi-agent system's research is not only about the speed state but also the acceleration,this more conforms to the actual situation,for instance,the uav formation requires both speed and position information.In view of environmental factors,industrial costs and realistic operability,researchers began to study different control protocols for different second-order multi-agent system models to make the system get to the consensus.Based on the discussion of many experts,this dissertation designs and researches control protocols for different second-order multi-agent systems.The main contents are as follows:(1)Most researches are about cluster consensus of the first-order multi-agent system,while the model considered in this dissertation is second-order multi-agent,which considers not only the velocity of the agent,but also its acceleration.In this dissertation,agents are divided into three different clusters,and different control protocols are adopted for different agents to achieve the condition of consensus.At the same time,in order to effectively save control costs,we also consider pinning control,only by selecting part of the nodes to control.Moreover,in this dissertation,we consider the directed weak linking network topology,compared to the existing result needing a directed spanning tree,it reduces the requirements of the topology.Based on algebraic graph theory,M matrix theory and Lyapunov stability theory,the corresponding consistency conditions are given.(2)Most of the studies on intermittent control protocols are periodic intermittent control,but in reality,we may not need too long control period.In order to save costs of industry,this dissertation considers adopting the aperiodic intermittent control protocol for the consensus of second-order multi-agents.At the same time,in the control protocol,the control gain given in this dissertation is adaptive control gain.Excessive constant control gain will cause cost waste,so adaptive control gain is reasonable.Moreover,the model in this dissertation is more inclusive,which considers the second-order multi-agent model with mixed delay and uncertain parameters.The corresponding consensus condition is obtained.By constructing the V function,the sufficient condition to achieve the consistency of multi-agent is obtained.Moreover,MATLAB software is used for simulation to verify the correctness of the theory in this dissertation.