Event-Driven Design And Consensus Analysis For Second-Order Multi-Agent Systems With Non-Linear Protocols

In recent years,with the development of network computer technology and communication electronic devices,multi-agent systems have attracted more and more attention.Among them,the consensus of multi-agent systems has attracted widespread attention.Multi-agent systems have the advantages of autonomy,interaction,distribution and high fault-tolerance rate.In the process of practical engineering application,control resources are usually limited.Event-driven control has been an alternative to relieve the pressure of system control and communication.Event-driven control is a control strategy that decides when to execute a task according to whether an event occurs or not.The event set is called event triggering condition.In the scenario of resource-constrained applications,event-driven control has a good application prospect.In this paper,second-order multi-agent systems are studied based on event-driven control.The main contents and achievements of this paper are as follows:(1)The edge event-driven consensus control method for the second-order integrator agent system with non-linear protocols is proposed.The input and conditions of eventdriven control are designed,and the consensus of the system is studied.In the research of multi-agent system consensus,linear control protocols are widely used,and many achievements have been achieved.However,the results of event-driven control combined with non-linear control protocols are few.Therefore,this paper designs the control protocol that can further solve the problem of communication resource waste.The control protocol is designed with the relative state variables between agents as control variables.The results are further extended to the case of the symmetrical bidirectional architecture of cruise vehicles.An edge event-driven control strategy of the symmetrical bidirectional architecture with the non-linear protocol is proposed.The event-driven control input and event-driven condition are designed,and an equidistant team of pinning control is formed.(2)Event-driven synchronization control methods for coupled harmonic oscillator systems under non-linear protocol are proposed.The control input and the condition of the event-driven control are designed and demonstrated.In this paper,we will study the second-order coupled harmonic treasure system,design the inputs of the edge eventdriven control and the point event-driven control under the non-linear control protocol,and establish the synchronization conditions.Finally,the effectiveness of the proposed event-triggered methods has been illustrated by simulations with Matlab,which show that the methods can save control resources and reduce system cost.