Research On Containment And Formation Tracking Control Of MASs With Time-Varying Delay

Multi-agent systems(MASs)are composed of some agents with the ability to sensor and compute.The MASs can communicate with each other with the help of wireless communication network and cooperate to accomplish the complicated tasks which cannot be accomplished by single agent.Since the MASs have a wide application background in many engineering fields,such as wireless sensor networks,robot cooperation,flight formation,transportation plan,flexible manufacturing,and so on,the research on cooperation control of the MASs has received much attention from the scientific community including the control one.In practice,the resources of communication networks among the MASs are limited,then the communication delay is unavoidable and it will degrade the system performance even cause unstability.Then in this dissertation,together with the existence of time-delay,by designing some novel adaptive event-triggered schemes and utilizing some most developed techniques to tackle the issue on time-delay,the formation tracking and containment control will be deeply and respectively studied.The main contents will be divided into five chapters,which can be listed as follows:Chapter 1 will mainly introduce the significance and current status of research on the MASs.Then from the viewpoint of communication delay and event-triggered scheme,some discussions on their shortcomings will be presented.Chapter 2 will introduce the basic knowledge and definitions of cooperative control of the MASs,such as graph theory,Lyapunov stability theory and consensus theory.Furthermore,some essential lemmas will be also provided for the proof procedure in the following sections.Chapter 3 will mainly study the design of containment control for high-order MASs.Firstly,the controlled MASs will be equivalently transferred into the problem of stability of time-delay systems.Then some augmented Lyapunov functionals will be constructed and they utilize the information on the time-delay as much as possible.By utilizing some techniques on delay-dependence,a set of less conservative results will be established.Chapter 4 will consider the issue on the formation tracking control in second-order MASs.Different from the approach in Chapter 3,this chapter takes the both upper and low bounds of time-varying delay into consideration.By constructing some augmented Lyapunov functionals and using some effective integral inequalities to estimate the LKF derivative,the derived results can be of larger application areas.Chapter 5 will study the containment control of second-order MASs.Some novel adaptive event-triggered schemes will be proposed,which not only use the information on the controlled MASs as much as possible,but also introduce the variable triggering parameters which can change with the real-time performance of the systems in order to reduce the transmission burden effectively.Then by constructing the augmented Lyapunov functionals and utilizing some new techniques to tackle the time-delay,the co-design of the event-triggered scheme and containment control protocol will be presented,which can be easily checked and of much less conservatism.