Cooperative Control Of Multi-agent Systems With Network Uncertainty

With the rapid development of information technology,control science has made significant progress in the fields of mathematics,physics,engineering,biology,and computers,which have brought new development opportunities for these disciplines.The cooperative control of multi-agent systems under complex networks is a common research hotspot in mathematics and engineering control.It aims to study and analyze the swarming behavior of multi-agent systems under network topology,which has attracted more and more researchers' attention and has significant value on theoretical research and practical application.In this paper,the swarming behavior of heterogeneous multi-agent systems with network uncertainty is considered in the cooperation-competition networks.The distributed cooperative control algorithm based on Nussbaum-type function is designed for the first-order heterogeneous multi-agent systems and the second-order heterogeneous multi-agent systems respectively,getting the corresponding sufficient conditions about achieving swarming behavior.The specific work is as follows:In Chapter l,we introduce the research background,current situation,related advances and achievements of multi-agent systems swarming behavior under complex networks.In Chapter 2,we introduce the concept of algebraic graph theory and related tools about system dynamics stability analysis,such as the spectral feature of the Laplacian matrix,the definition of structural balance,and the Lyapunov stability theorem.In Chapter 3,the swarming behavior of the first-order heterogeneous multi-agent systems with network uncertainty is discussed under the condition that the uncertain cooperation-competition network is structurally balanced and undirected.The distributed adaptive controller based on Nussbaum-type function is used to estimate the unknown nonzero parameters which reflect the network uncertainty.The corresponding distributed protocol with leader's information is designed by using the energy inequality which is based on the multi-agent systems,and finally the sufficient condition for the systems to achieve bipartite static collection are obtained.Finally,the effectiveness of the theoretical result is verified by numerical simulation.In Chapter 4,starting from the energy of a single agent,the swarming behavior problem of the second-order heterogeneous multi-agent systems with network uncertainty is discussed under the condition that the cooperation-competition networks is structurally unbalanced and undirected.Based on uncertain information interaction between each agent and neighbors,the distributed protocol with Nussbaum-type function is designed to analyze the problem of the network uncertainty,a sufficient condition which makes second-order heterogeneous multi-agent systems achieve distributed stabilization is obtained.Finally,the effectiveness of the theoretical result is verified by numerical simulation.In Chapter 5,we summarize the full paper and look forward to the future research direction.