Research On Distributed Consensus Tracking Problem For Multiagent Systems

Motivated by the extensive applications in many fields including unmanned aerial vehicles(UAVs),world wide web(WWW),and teaming of robots,recent years have witnessed an increasing research interest in designing cooperative control strategies for multi-agent systems(MASs)in a fully distributed fashion.As some agents in the systems have simple and limited function,distributed cooperative control can help the agents complete various complex tasks by cooperating with each other.Consensus in MASs,which acts as the foundation of coordination among agents,has been studied extensively by researchers from the system and control community during the past two decades.According to the existence and non-existence of the leader agent which can provide reference signal,consensus can be classified as leader-following consensus(or consensus tracking)and leaderless tracking.The consensus tracking for MASs with the leader has higher-dimension dynamics is studied by using tools from Lyapunov stability theory and algebraic graph theory in this paper.This paper mainly discusses the problem of consistency tracking in both the directed and undirected communication topologies.In a complex communication environment,agents can only interact with their neighbors intermittently due to actuator failure or network induced packet loss.And in the actual network,the transfer of information between nodes may be unidirectional,not all nodes can pass information to each other.Therefore,the multi-agent consensus tracking problem of directed network topology is first considered.For multi-agent systems where leaders have higher dimensional dynamics,this chapter has designed an intermittent control protocol to study the consistency tracking problem.Using M-matrix theory,this paper obtains sufficient conditions for the distributed consensus tracking of this multi-agent system.At the same time,this paper proposes an algorithm to choose the appropriate network coupling strength and feedback gain matrix.And then this paper extends the conclusion to the situation of the undirected communication topology.Finally,the validity of the theoretical result is verified by numerical simulation.Furthermore,the third chapter summarizes the main results and contributions of this dissertation.Some possible future work about this issue are introduced.