Group Consensus With Both Competition And Cooperation Interconnections

It is of great significance to achieve cooperative control for multi-agent systems since their broad applications in life and military.In this thesis,under certain communication topology,the problem of group consensus for first-order multi-agent systems is investigated.When dealing with the problem of group consensus,both competition and cooperation interconnections are considered due to the ubiquitous competitive phenomenon in real life.Based on it,a control protocol with competitive and cooperative relationship is designed.It is proved that multi-agent systems can achieve group consensus,and the value of final consensus state is obtained.Secondly,it is necessary for networked control systems to take full advantage of the network bandwidth and limited energy resources in practical applications.Eventtriggered communication mechanism can reduce the number of message transmitted and controller updating effectively.Therefore,the energy and cost associated with the transmission of information and the computational of control law is decreased.In order to improve resource utilization,event-triggered strategy is adopted.On account of the structural characteristics of two-layer multi-agent systems which has two interconnected subsystems,a layered event-triggered control protocol considering competitive and cooperative relationships is presented.Then,by making use of algebraic graph theory,Lyapunov stability theory and etc.,we proved that multi-agent systems can achieve group consensus under the proposed event-triggered control protocol and there is no Zeno behavior by choosing appropriate parameters.Through the results of numerical simulation of multi-agent systems with directed topology,it can be seen that the layered event-triggered control protocol in which competition and cooperation are involved is feasible and effective.Finally,by taking both competition and cooperation interconnections into consideration,a novel distributed event-triggered control protocol is proposed for multi-agent systems where agents are connected by a weighted-balanced directed communication network possessing a spanning tree.Under the designed protocol,agents only have access to the state of their neighbors without any prior information about the global network.Thus,to some extent,the computation of control law is reduced and the communication resource is saved.According to the input to state stability theory,it is shown that multi-agent systems can achieve group consensus.What's more,it is proved that the minimum time interval between any two consecutive events is positive,accordingly Zeno behavior is excluded.The correctness and effectiveness of the proposed control protocol are further verified by numerical simulation and analysis.