Research On Event-Triggered Formation Control Of Multi-Agent

Multi-agent can perform tasks to in complex environments instead of people,but because the capacity and number of batteries carried by the agents themselves are limited,the onboard energy of each agent is also limited.At the same time,the energy consumed by communication between agents is much greater than the energy consumed by the calculation.Therefore,it is the key to current research to ensure the performance of the system and reduce the frequency of communication between agents in the case of limited energy resources.In practical applications,although the system mostly uses digital controllers with periodic sampling,the communication frequency is reduced compared to the continuous mechanism,but in order to ensure the desired control system performance,people often select the sampling period according to the worst operating conditions.Ignoring the real-time dynamics of the system,the frequency of execution of communication and control tasks is not in the best case,thus wasting a certain amount of communication resources.In order to meet the growing practical needs,people implant microprocessor chips inside the agent to facilitate more complex control tasks.After the information received from the adjacent agents is processed,it forms instructions and the agent's controller update is driven according to certain rules.The event-driven control mechanism is that when certain parameters of the system meet certain conditions,the controller updates the control input,thereby reducing the power consumption of the system.Through the application of event-driven control,not only the certain system control performance,but also the communication frequency can be further reduced to save energy resources.The multi-agent system is taken as the research object,and the event-driven control mechanism is combined to study and analyze the circle formation problem of multi-agent system.The main research includes the following contents:Firstly,based on event-driven control mechanism,the circle formation problem of the first-order multi-agent system is studied.Considering the time delay generated by each agent during its communication,the desired the circle formation of the multi-agent system is realized by designing a distributed control protocol according to the state information of the agent itself and neighboring individuals and the desired formation information.The circle formation control problem of the first-order multi-agent system under the event-dependent and state-independent event conditions is considered separately.Under the conventional control law,the related control law and Laplacian matrix are obtained by analyzing the circle formation problem of the first-order multi-agent system under the continuous control mechanism.Then the existence of communication time delay is considered,and the control law is improved correspondingly with the event-driven mechanism.Using the Lyapunov function analysis method,two different event-driven conditions are obtained.Under the decentralized control law and event-driven conditions of the design,the circle formation control with communication delay is implemented for the first-order multi-agent system.Secondly,the circle formation of multi-agent system based on the second-order dynamics model of the event-driven mechanism is also studied.Research on the circle formation control problem of the second-order system is carried out through two different mechanisms: centralized event-driven control and decentralized event-driven control.Firstly,the distributed control protocols of the system under two different mechanisms are proposed respectively.Secondly,two different event-driven conditions are obtained by the Lyapunov function analysis method.According to the proposed distributed event-driven control protocol,the circle formation control of the multi-agent system of the second-order dynamic model is realized.The convergence of the system under the control law is proved theoretically,and the effectiveness of the control algorithm is verified by numerical simulation.