Research On Multi-agent Consensus Based On Event-triggered Strategy Under Switching Topology

Multi-agent system is a network system,which is composed of many agents with certain communication,computing capabilities.These agents complete large-scale control tasks through local information exchange and cooperation.The consensus problem is the core issue in MASs research: the consensus protocol designed by the system makes the state information values of all individuals of the system tend to be consistent finally.However,in the practical application of MASs under the switching topology,too much communication and computation between agents will consume a lot of energy of sensors.Therefore,at present,the optimization of MASs consensus protocol under the switching topology mainly focuses on reducing the communication energy consumption and computing power consumption of agents.The main contents of this paper are as follows:In this paper,we consider the consensus of MASs under the switching topology from two dimensions: discrete and continuous.First,the existing discrete-time MASs consensus protocol under the switching topology is optimized,and an improved discrete-time consensus protocol based on the switching topology is designed.In this protocol,agents do not need to consider the state information of all neighbor agents,but only the state information of the farthest neighbor agents on both sides,which greatly reduces the calculation amount of agents.Then,the continuous-time consensus protocol under the switching topology is optimized,and an improved event-triggered consensus protocol based on the switching topology is designed.The protocol introduces the event-triggered strategy to reduce the update frequency of agents' controller,and an agent only needs to keep its controller unchanged at event-triggered time interval before it reaches the eventtriggered condition,thus greatly reducing the communication energy consumption and computing power consumption of agents.At present,the research focus of discrete-time consensus protocol is how to design the protocol,so that MASs can achieve consensus,at the same time,reduce the agent's communication and calculation in each iteration as much as possible,and on the premise of ensuring the system stability,expand the range of adjustment factors as much as possible to accelerate the convergence speed of MASs.The discrete-time consensus protocol under the switching topology is usually studied on the premise that MASs can always maintain connectivity.However,in most discrete-time consensus protocols,the connectivity of MASs cannot be maintained all the time,and the MASs without connectivity cannot converge to consensus.In this paper,we propose an improved Hegselmann-Krause discrete-time consensus protocol based on the switching topology,which can keep the real-time connectivity of MASs and ensure the consensus of MASs.Moreover,based on the protocol,agents only need to consider the state information of the two neighbors whose state values are farthest from each other,which greatly reduces the computation of agents.At present,the research focus of event-triggered consensus protocol is how to design event trigger,so that the system can achieve consensus and reduce the update times of the control input of agents as much as possible.Event-triggered consensus protocol is usually studied on the premise that the system topology of MASs is fixed.However,it is found that the networked system with switching topology is more suitable for practical engineering applications,so it is more important to design event-triggered consensus protocol of MASs which is in line with network switching changes.This paper proposes an improved event-triggered consensus protocol based on the combination of event-triggered control and switching topology.This protocol can effectively reduce the upda te frequency of the control input of agents and the energy consumption of MASs under the switching topology.At the same time,considering that the connectivity of MASs may not be maintained,a network connectivity algorithm based on constraint set is adop ted to maintain the real-time connectivity of MASs and ensure the consensus of MASs.