Event-triggered Consensus Control For Multi-agent Systems With Cooperative And Antagonistic Interactions

Consensus,as a basic problem of multi-agent systems,has drawn much more attention.With the broad applications of embedded microprocessors and battery-powered sensors,the implementations of consensus control schemes in practical are facing increasingly resource constraints.Therefore,the design of consensus control laws must satisfy performance requirements while reducing resource consumption.Due to the superiority of event-triggered control in savings resources,considerable results on consensus problem of multi-agent systems via event-triggered control have been obtained.However,most of existing results consider multiple agents with cooperative relationship,which is more limited and conservative.The research includes:Continuous event-triggered control is designed for first-order multi-agent systems with antagonistic interactions.Given the event-triggered control law,the static and dynamic triggering conditions are constructed for undirected and directed signed graphs,respectively.On the basis of Lyapunov theory and the algebraic graph theory,we prove that the systems can achieve bipartite consensus and exclude Zeno behaviour.Periodic event-triggered control is designed for first-order multi-agent systems with antagonistic interactions.For the undirected connected and directed strongly connected signed graphs,the piecewise constant event-triggered control law,the static and dynamic triggering conditions are designed,respectively.The criteria of co-designing the triggering condition parameters and the verification period is established to guarantee the bipartite consensus of the systems.Moreover,inter-event times are lower bounded by verification period.Thus,Zeno behaviour is excluded.The event-triggered control is applied to multiple non-holonomic wheeled mobile robots.Firstly,we design the hand position bipartite consensus of multiple non-holonomic wheeled mobile robots via static and dynamic event-triggered control.Then,we design the event-triggered control scheme to solve the position centroid bipartite consensus.Furthermore,the event-triggered control scheme is extended to the position centroid formation problem,i.e.,all robots can globally meet at the desired geometric pattern.Finally,we summarize the whole paper and point out the places where the paper should be still improved.