Research On Event-triggered Consensus For Heterogeneous Multi-agent Systems

In recent years,the cooperative control of multi-agent systems(MASs)has been an important topic in the research of complex networks,which has broad application scenarios in areas such as automation control,integrated operations,and future transportation,and has gradually become one of the hot research fields.In addition,consensus is an important basic study on the cooperative control of multi-agent systems.The significance of consensus research is to explore the evolution law of agents in complex networks,and to explore the relationship between the evolution of agents and the appearance of external states,which can ultimately contribute to the development of related applications.The main research object of this thesis is the heterogeneous multi-agent system.And the research goal is to explore the grouping consistency problem under event-triggered control.The main research contents are as follows:First,the heterogeneous system dynamics model composed of the first-order agents and the second-order agents is constructed in this thesis.Subsequently,different from the group consensus control strategy based on cooperative relationships,a new control protocol based on the cooperative-competition relationship between agents is designed in this thesis.It requires that there are cooperative relationships between agents in the same group,and competitive relationships between agents in different groups.For the system in this scenario,centralized event-triggered,non-centralized event-triggered,and distributed event-triggered are proposed,and sufficient conditions which enables heterogeneous systems to achieve group consensus are obtained through algebraic graph theory,frequency domain analysis method,and Lyapunov's stability theorem analysis.The theoretical results show that the proposed event-triggered protocol is feasible and Zeno behavior can be avoided.Simulation experiments verify the correctness of the obtained theory and the effectiveness of the event-triggered protocol.Then,on the basis of the above research,the group consensus of heterogeneous nonlinear multi-agent systems based on distributed event-triggered control is discussed in order to release more constraints.The distributed event-triggered control protocol is designed while considering non-linear factors in the system.Subsequently,the same method is used to prove that the system could achieve group consensus and that Zeno behavior could be avoided in the system.Then,the correctness of the theory and the validity of the event-triggered protocol are verified by simulation.Finally,the group consensus of heterogeneous nonlinear multi-agent systems with leaders based on distributed event-triggered is discussed in this thesis.At the beginning,the dynamics model of the leader agent and follower agent with non-linear factors is established.Subsequently,the same research ideas are followed to design distributed event-triggered control protocols and consensus conditions.It can be proved that the system can achieve group consensus and there is no Zeno behavior in the system.Later,simulation results verified the rationality of the theory.