Consensus Of Multi-Agent Systems With Communication Delays And External Disturbances

In recent years,the consistency of multi-agent systems has been widely used in many aspects,such as unmanned aerial vehicle,unmanned aerial vehicle,multi-satellite joint control,and so on.It has become the focus of many experts and scholars.Research on the uniformity and consistency of multi-agent systems is mostly under ideal conditions,but considering that multi-agent systems are often in complex engineering environments in collaborative control,agents may be disturbed by various factors such as environmental noise,external attacks,network latency,actuator saturation and so on during the process of information exchange,collaborative motion and mutual coupling.In order to overcome the impact of communication delay and external interference on multi-agent systems,this paper studies the consistency and leader-following consistency of networked discrete multi-agent systems with communication delay and external interference.Firstly,for the discrete multi-agent system with external interference and communication delay,the predicted values of external interference and neighbor agent state are obtained by using the networked predictive control method.A distributed protocol based on predictive information is presented,and the necessary and sufficient conditions for the state consistency and output consistency of the multi-agent systems are given respectively.Secondly,considering that leaders can simplify the design and implementation of control,save energy and reduce control costs in the collaborative control of multi-agent systems,the issue of leader-follower consistency in discrete multi-agent systems with communication delay and external interference is further studied,and the design method of distributed protocols is given,which enables followers to track and output the status of leaders Track.Finally,the validity and feasibility of the proposed method are verified by numerical simulation.