The Consensus Of Multi-agent Systems Based On Event Triggered Control

In recent years,the analysis and synthesis of multi-agent system consensus has become the theoretical basis for engineering application in a certain field.Among them,consensus refers to each individual based on the information of their own and neighbor agents,under the appropriate control law,constantly adjust their states,and ultimately make all the agents of a state which is interested to achieve the same or the same.The selection of control law or control protocol is the key to solve the problem of multiagent system consensus.For the network system communication frequency is too high and communication overload is too heavy,event triggering control has become a hot research direction for scholars.The event triggering control determines the update time of the control signal by setting the triggered condition,making the communication more flexible.Based on this,this paper studies the problem of triggering control of coherent events in multi-agent systems.The main contents are as the follows:(1)For the consensus of linear multi-agent system,a distributed event-triggered controller is designed.Becauseof the high communication frequency between the agents and the update frequency of the controller,event-triggered controllers are used.In view of the fact that the inter-agent distance is more easily obtained,the combinational measurements are used to design the trigger condition of the event and the controller.By constructing an appropriate Lyapunov function and using Lyapunov stability theory,it is proved that the event-triggered controller designed can make the multi-agent system reach consensus.The event-triggered iterative algorithm eliminates the Zeno phenomenon and obtains the controller's trigger time sequence.(2)Based on the event-triggered control protocol of(1),a local estimator is introduced and a controller that makes a linear multi-agent system with unknown parameters consensus is designed.Considering that the system contains unknown parameters and the control accuracy requirements of the actual system,a local estimator is introduced in the actuator module.As the same as(1)the combinational measurement sampling method is used to design the trigger condition,and the Lyapunov stability theory is used to give a sufficient condition for the system to be consistent.Finally,a numerical example is given to verify the feasibility and effectiveness of the method.