Research On Event Triggered Formation Control And Containment Control Of Multi-agent Systems

Multi-agent system refers to a control system composed of multiple independent agents.Compared with traditional control system,multi-agent system have many advantages such as parallel control,good redundancy,and high efficiency.Due to the potential practical value of research on multi-agent system in warehousing logistics,aerospace and other related fields,multi-agent system have attracted more and more attention in the field of control in recent years.The formation control and containment control of multi-agent system also have broad application prospects in practical applications such as UAV formation and satellite positioning.Therefore,it is of great theoretical value and practical significance to study the formation control problem and the containment control problem of multi-agent system.This paper mainly studies the formation control problem and containment control problem of multi-agent system.First,for the first-order and second-order multi-agent system,the corresponding distributed formation control algorithm is designed.In order to reduce the number of communications between agents,a periodic event trigger mechanism was introduced,and a periodic event triggered multi-agent formation control algorithm.Secondly,for high-order multi-agent system,the containment control problems of multi-agent system including with and without input time-delay are investigated.The main work of this article is summarized as follows:Firstly,the formation control problem for multi-agent system is investigated,design the formation control algorithm of multi-agent system.Due to the need to consider the communication resources and individual energy limitations in practical applications,consider the formation control algorithm based on the periodic event trigger mechanism.For the first-order multi-agent system and the second-order multi-agent system,the distributed multi-agent formation control algorithm based on periodic event trigger is designed respectively.The Lyapunov direct method is used to analyze and prove the stability of the system,and the conditions for the formation control target are given.Finally,the feasibility and effectiveness of the proposed formation control algorithm are verified by numerical simulation.Secondly,the containment control problem is considered for high-order multi-agent system with and without input time-delay,respectively.In order to solve the problem of excessive consumption of communication resources,a distributed multi-agent system based on event triggering is designed to containment control algorithm.The algorithm uses event triggering conditions to control information exchange between agents and neighbors.When the trigger condition on an edge is met,the agents at both edges exchange information.The Lyapunov direct method is used to analyze and prove the stability of the system,and the conditions including the realization of control objectives are given.Finally,the numerical simulation verifies the feasibility and effectiveness of the proposed containment control algorithm.