Research And Analysis On Consensus Of Nonlinear Multi-Agent System Based On Distributed Impulsive Control

In recent years,distributed coordinated control of multi-agent system has been paid close attention by more and more scholars because of its wide application prospects in the fields of UAV formation control,satellite attitude control,multi-robot cluster control and other industrial and military fields.Consensus of multi-agent systems is the key to distributed coordination and cooperation among agents,which attracts great interest from experts and scholars in computer science,control engineering and other fields.At the same time,in the field of control engineering,impulsive control is widely used in the study of complex networks because of its advantages of small control quantity,high convergence performance and low control cost.As a kind of complex network,multi-agent system(MAS)is expected to enrich the control theory of complex systems through the consensus study of MAS based on impulsive control.In this paper,multi-agent system is taken as the research object.Supported by algebraic graph theory,Lyapunov stability theory and impulsive differential equation theory,the consensus problem of non-linear multi-agent system based on distributed impulsive control is studied.The main research contents are as follows:(1)The problem of leader-following fixed-time quantized consensus of multi-agent systems via impulsive control has been studied.From the point of view of reducing communication energy consumption and expanding communication range,two kinds of control protocols are designed for leader-following multi-agent system according to the characteristics of impulsive control and quantization control.Supported by the “average impulsive time interval” theory and comparison system theory,we obtain sufficient conditions for the quantized consensus of the leader-following multi-agent system based on impulsive control in fixed time under undirected communication topology.The analysis shows that the controller designed in this paper can not only guarantees the consensus of the system in a fixed time,but also achieve the maximum residence time by changing the parameters of the controller.The communication energy consumption between followers and leader.It also adjusts the maximum residence time of the system by changing the parameters of the controller.Finally,we verify the validity of the consensus control protocol by numerical simulation.(2)The problem of impulsive consensus for nonlinear multi-agent system based on edge event-triggered control has been studied.In view of the Zeno phenomenon in eventtriggered control algorithm and the slow convergence rate in sampling control algorithm,we consider combining the advantages of fixed-time impulsive control to make up for it.Therefore,we integrate impulsive control,event-triggered control and sampling control to study the consensus of non-linear multi-agent system.For two kinds of multi-agent system,we design two kinds of impulsive consensus protocols.In these two protocols,we use the edges of the agent's communication topology as the trigger objects to sample and judge the agent's data at a specific time,and use this data to control.This control method completely avoids the Zeno phenomenon.We define this control mode as“impulsive edge event triggering control”.Through theoretical analysis,we obtain the sufficient conditions for the system to achieve these two kinds of consensus under undirected communication topology.Finally,we verify the validity of the consensus control protocol by numerical simulation.Compared with the traditional fixed-time impulsive control,we find that this control method has better control performance,such as faster convergence speed of the system.