Consensus Of Multi-Agent Systems Under Event-Triggered Control

In recent years,cooperative control of multi-agent systems has been widely used in various fields.Consensus problem as the fundamental problem of cooperative control has attracted the attention of many scholars.In the process of consensus implementation,the agent needs to continuously update the controller and perform a large amount of information transmission with the neighbor agents.The traditional continuous control is bound to cause waste of system computing resources and communication resources.Based on the research results of consensus.this thesis designs different event-triggered control methods for multi-agent systems with second-order,strong nonlinear AUV and nonholonomic constraint mobile robot models to achieve system consensus.The main contents are as follows:1.For the second-order leaderless multi-agent system,consider that the topology map is directional and strongly connected.A centralized event-triggered control method is designed.By combining relevant stability theory knowledge,a sufficient condition for the system to achieve asymptotic agreement is obtained,and it is further proved that the Zeno phenomenon does not exist in the system.Combined with the simulation results,it can be seen that the algorithm can achieve consistent system and reduce the number of updates of the controller.2.For the second-order leader-following multi-agent system,unlike the linear system research,consider the case where each agent contains a nonlinear function and a directed topology.A decentralized event-triggered control method is designed.In this control strategy,each agent has its own trigger function.Combined with relevant theoretical knowledge,it is proved that all followers can asymptotically track the leader,and there is no Zeno phenomenon in the system.Combined with the simulation results,it can be seen that the algorithm can further reduce the number of updates of the controller and has better flexibility.3.For multi-AUV systems with strong nonlinearity and strong coupling,we consider AUV underwater communication and limited energy.A decentralized event-triggered control method is proposed.Through the theory of Barbalat lemma and Lyapunov stability theory,the stability of the system is proved,and then the position and velocity of all AUVs can be consistent.By obtaining a sufficient condition of the event triggering condition,it is proved that the system does not exist Zeno phenomenon.Combined with the simulation results,it can be seen that the control method can reduce the communication frequency between the AUV controller update time and the AUV compared with the pulse control method.4.To solve the problem of formation tracking of multi-robot systems with nonholonomic constraint and typical nonlinearity.First,the formation problem is transformed into a consensus problem.A periodic event-triggered control method is designed,which only needs to detect the trigger condition at the sampling moment.Combining the knowledge of LaSalle invariant theorem and Lyapunov stability theory,it is proved that the strategy can achieve the consensus of the transformed system,and then the multi-robot system can realize the formation task.Since the strategy has a minimum interval and the Zeno phenomenon is avoided.Combined with the simulation results,it can be seen that compared with the existing robot control algorithm,the algorithm can reduce the number of controller updates,the number of sampling times and the communication frequency.