Research On Consensus Of Multi-agent Systems Via Adaptive And Event-based Control

In recent years,the coordinated control problem of multi-agent systems has become a research hot topic in the field of systems control.The research mainly includes consensus,flocking,swarming,formation,tracking and so on,where consensus of multi-agent systems is the most basic and critical issue.This paper will focus on adaptive control,event-based control and impulsive control,and apply them to analyze the consensus problem of multi-agent systems.Firstly,an adaptive event-based control scheme is designed by combining adaptive control and event-based control.Under this control scheme,multi-agent systems can achieve consensus in the conditions of only using local information and avoiding continuous communication with its neighbors.In addition,Zeno-behavior of the closed-loop systems can be excluded.Furthermore,the obtained theoretical results on consensus of the second-order multi-agent systems are generalized to the general linear multi-agent systems.Next,the adaptive event-based control is applied to impulsive control system to consider consensus problem of the first-order multi-agent systems.On the one hand,the designed control protocol can avoid continuous communication between the agent and its neighbors and the proposed controller does not contain global parameters.On the other hand,the system dynamically determines the sampling instants through pre-designed events.In addition,a numerical example is provided to validate the availability of the obtained theoretical results.Finally,the asynchronous consensus problem of linear multi-agent systems with impulses effect is investigated.Under the designed impulsive asynchronous control scheme,impulsive sampling sequences of each agent in systems are independent.From the obtained theoretical results,consensus for multi-agent systems can be achieved exponentially by designing appropriate control gain and impulsive sequences when each subsystem is unstable.And the consensus of multi-agent systems is robust against certain impulsive permutation when each system is stable.