Research On Fixed-time Consensus Of Event-triggered Multi-agent Systems

With the progress of human society and the continuous development of modern science,the research of computer science,information science and biotechnology has been deepening,and multi-agent system has many potential applications in these fields.Therefore,multi-agent coordinated control has gradually become a research hotspot of many scholars at home and abroad.Considering the limited energy and bandwidth of multi-agent system,this paper studies the problem of multi-agent system based on event triggering mechanism,and partially studies the first-order system and the second-order system.At the same time,it extends from the consistency problem to the proportional consistency problem.The contents of this paper are as follows:Fixed-time consensus of multi-agent systems with non-linear dynamics under directed topology is studied.A new non-linear control strategy based on event triggering mechanism is proposed.For each agent,event triggering conditions based on state information are given.When the state error satisfies the given conditions,event triggering can effectively reduce the energy dissipation and control of the system.The renewal frequency of the controller.Using Lyapunov stability theory and algebraic graph theory,it is proved that under this control strategy,multi-agent system can achieve leadership follow consistency in fixed time without Zeno behavior.Compared with finite time consistency strategy,the convergence time of the system using fixed time consensus strategy is no longer dependent on the initial state of the system.Finally,simulation examples verify the theoretical results.The proportional consensus problem of fixed time for second-order multi-agent systems is further studied.In this paper,the problem of fixed time proportional consistency of eventtriggered multi-agent systems in undirected topology is studied.A new event-triggered nonlinear control strategy is designed by using backstepping method.At the same time,a piecewise event trigger function is designed.When the agent tracks the virtual speed,the trigger condition based on the velocity information is given.When the virtual speed tracking is completed,the trigger condition based on the state information is adopted.It can effectively reduce the energy dissipation of the system and the update frequency of the controller.Using algebraic graph theory,linear matrix inequality and Lyapunov stability theory,it is proved that under this control strategy,second-order multi-agent systems can achieve proportional consensus in fixed time,and there is no Zeno behavior.Finally,a simulation example further verifies the validity of the theoretical results.