Group Consensus For Cooperative-Competitive Heterogeneous Multiagent Systems:Self-adaptive And Pinning Methods

Group consensus is a significant branch of coordinated control for multi-agent system,and also is a fundamental and primary issue of coordinated control for complex systems.With the extensive application of group consensus of multi-agent systems in those aspects of intelligent transportation,data fusion,formation control and so forth,it has developed into one of the hot and frontier issues that researchers in many fields pay attention to.The existing works on group consensus of multi-agent systems are mostly oriented toward the homogeneous systems,built are based upon the single coupling relationship of cooperation or competition between agents,which cannot fully meet the need for the differences of the dynamic behavior of agents in the system and complex multiple coupling relationships,caused by these factors in the practical application of environmental change,various disturbances and the system's control cost and so on.For such issues,this thesis discusses the group consensus problem for a class of heterogeneous multi-agent systems with complex relationship under pinning control and adaptive pinning control methods,respectively.The main contents are illustrated as follows:The problem of pinning group consensus for a class of heterogeneous multi-agent systems with weakly connected topology which contains first-order and second-order agents is discussed.Meanwhile,the cooperative-competitive interaction between agents is considered,and a novel distributed couple-group consensus control protocol is designed.Based on Lyapunov stability theorem,algebraic graph theory,and M matrix,the algebraic criteria are obtained,which ensures heterogeneous systems achieve couplegroup consensus.The results show that in order to achieve group consensus for the system,agents with zero in-degree must be pinned,and the pinning gains of second-order agents should meet a certain algebraic condition.In addition,the study indicates that the systems' couple-group consensus can be attained without pinning any nodes because there are no nodes with zero in-degree in the heterogeneous multi-agent systems with an undirected connected topology.The correctness and validity of the conclusions are verified by the simulations.In order to effectively solve the problem of control gain selection in pinning control,the adaptive control strategy is adopted and the adaptive pinning group consensus problem of the heterogeneous multi-agent systems with cooperative-competitive relationship is investigated.An adaptive pinning control protocol is designed utilizing adaptive and pinning control strategies.The criteria and the corresponding pinning strategies are proposed,which ensure a heterogeneous system achieve adaptive pinning couple-group consensus.Meantime,the results show that the upper bound of the pinning gains is related to the in-degree of the pinned nodes and the coupling strength between the nodes.The results of simulation further corroborate that the correctness and validity of the conclusions we proposed.Finally,this thesis summarizes our work,and prospects the future work about group consensus.