Consensus And Application Of Multi-agent Systems With Communication Constraints

This paper mainly studies the consensus of multi-agent systems under communication constraints.Generally speaking,the research on the consensus problem of multi-agent system is based on the system's communication with each other and finally reach a common value from different initial states based on the communication information exchange.However,a wide of disturbance in the in formation transmission between the agents for the multi-agent systems,and the consensus state is difficult to achieved.Therefore,the study of disturbance rejection has important practical significance.This paper studies the consensus problem based on event triggering and the consensus of communication quantization.It mainly uses theoretical tools such as graph theory,matrix theory and linear system theory.Finally,the communication quantization is applied to the synchronous tracking control of the master-slave robot arm.The main research of this paper is as follows:Firstly,Consider the case of continuous-time linear multi-agent systems in undirected communication networks.A fully distributed event-triggered observer-based consensus control strategy is proposed,which consists of an adaptive control low.The algorithm can avoid using the eigenvalue information of the Laplacian matrix and the distributed update rule.Secondly,In the actual network,the transmission of information is limited by the channel bandwidth.A distributed reduced-order observer-based consensus control for discrete-time multi-agent systems with quantized communications in directed networks is proposed.Two methods of total communication quantization and partial communication quantization are proposed,respectively.It is proved that the use of appropriate control feedback matrices,the quantized consensus can be achieved under the quantization constraints.Numerical examples are provided to verify theoretical results.Finally,Based on the above quantization communication,we applied the results to the robt arm.A master-slave arm synchronization tracking control method based on quantization communication is designed.The master-slave arm compeletes the tracking under the without using communication information quantization,all communication information quantization,and partial communication information quantization constraints.