Research On The Consensus Of Nonlinear Multi-agent Systems Via Intermittent Sampled-Data Control

Due to the rapid development of communication network and distributed control,the research on the consensus of multi-agent systems has become a hot topic in the field of systems and control,which has been widely concerned by scholars at home and abroad.A multi-agent system is a set of systems that work in a network environment and have multiple autonomous individuals.Consensus means that each intelligence in a system transmits information through a communication network to make it asymptotically identical in terms of position or velocity,showing a consensus behavior,and is widely used in multi-UAV formation,multi-satellite angle correction,multi-sensor network synchronization and so on.Because there are nonlinear factors such as noise and air resistance in the real world,these factors often affect the consensus of multi-agent systems,so it is important to consider the consensus of multi-agent systems with nonlinear factors.In the consensus analysis of nonlinear multi-agent systems,the sampled-data control strategy can reduce the update frequency of the controller,but the controller still has to work continuously in each control time period,and the intermittent control strategy can reduce the working time of the controller,Therefore,the combination of sampled-data control and intermittent control strategy is beneficial to consider the update frequency and working time of the controller consensus.This paper studies the consensus problem of nonlinear multi-agent system based on intermittent sampled-data control strategy,the details of the paper are as follows:Firstly,for the first-order multi-agent system with nonlinear factors,the control strategy of periodic intermittent sampled-data and aperiodic intermittent sampled-data are adopted respectively.By means of matrix theory and the proof of inequality,we get the conditions for the system to achieve consensus adequacy.the feasibility of the designed control strategy is proved by theoretical analysis.Finally,numerical simulation is used to verify the validity of thetheoretical results,and further analysis of the simulation results shows that the communication width and sampled-data width play a vital role in the system state to achieve consensus.Secondly,in the physical world with kinematics as the background,it is more realistic to study the second-order multi-agent system with nonlinear factors.By using the intermittent sampled-data control strategy,it is proved by strict theory that the consensus condition of the second-order nonlinear multi-agent system.Finally,the validity of the consensus theory is verified by numerical simulation,which makes the multi-agent consensus algorithm more practical.Finally,in order to further verify the practicability of the studied consensus algorithm,based on the above theoretical results,based on the Anylogic software simulation platform,a virtual prototype environment of multi-UAV system consensus is built,and the information exchange between multi-agent is simulated.Finally,the consensus motion of UAV system is realized by consensus coupling operation,which verifies the feasibility of consensus theory.