Research On The Consensus Of Multi-Agent Systems With Time Delay Based On Model Reduction Method

In recent years,with the rapid development of computer technology,because multi-agent systems can accomplish many tasks that a single agent can not accomplish,the research of unified consistency of multi-agent systems has become a hot issue in the field of control.Multi-agent system has a wide range of applications,including formation control of aircraft,information synchronization of sensor networks,control of robots and so on.However,in practical applications,due to various factors,information transmission between agents inevitably has a delay.The existence of delay will not only make the system more complex,but also lead to the invalidation of the original protocol.Model reduction method is very effective to deal with this kind of multi-agent system with time delays.Therefore,it is of great value to study the consensus of multi-agent systems with time delays based on model reduction method.In this paper,we use algebraic graph theory,matrix theory,Lyapunov stability theory,and model reduction method to study the uniform consistency of multi-agent systems with time delay.The main research contents are as follows:At first,based on the model reduction method,a new consensus protocol is proposed for multi-agent systems with random delay and the conditions under which the consistency protocol meets are given The consensus protocol has a wider range of application,better extensibility and more representative than previous protocols.Random delay is more representative and universal than fixed delay in practical application,so it has more practical value.Secondly,aiming at the multi-agent systems with interference terms and multiple input delays,a control protocol is found based on the model reduction method to make the multi-agent system achieveH_?consensus.Multiple input delay is more universal than single-delay in practical application.It is easier to find out the conditions forH_?consensus of such systems through model reduction method.Finally,the leader-following consensus problem of multiple input delay multi-agent system with switching topology is studied.Based on model reduction method,the case that multi-agent systems with switching topology is studied,and a leader is introduced.Under the constraint of this consensus protocol,the agents in the system are eventually consistent with the leader.As well,it is proved that the model reduction method can not only be applied to systems with fixed topology,but also to systems with switching topologies.