Consensus Of A Class Of Multi-agent Systems With Sampled Data Information

In recent years,due to the rapid development of computer and communication technology,the distributed coordination control problem of multi-agent systems has broad applications in many fields,including wireless sensor networks,automated highways,unmanned aerial vehicles formation control and so on.As one of the fundamental problems of multi-agent systems,the consensus problem has attracted extensive attention from domestic and foreign scholars.The major aim of the consensus is to propose distributed control schemes such that one or more physical quantities of all agents reach an agreement over time.Various factors in the communication network,such as communication cost,bandwidth limitation etc.,will affect the consensus of the system.In order to save communication cost,a sampled-data control scheme is proposed to adopt.Therefore,using matrix theory,algebraic graph theory,Lyapunov stability theory,LMI and so on,the consensus problem of a class of multi-agent systems with sampled data information is investigated in this paper.The main works of this paper arrange as follows:Firstly,the sampled-data leader-following consensus problem of second-order nonlinear multi-agent systems under directed graph is investigated.For the multi-agent systems with external disturbances,a sampled-data control protocol is proposed by the sampled-and-hold mechanism.Some sufficient conditions for achieving the leader-following consensus are obtained through the analysis.A numerical simulation is provided to demonstrate the validity of the given results.Secondly,the event-triggered containment control problem of linear multi-agent systems with stochastic disturbances is studied in this paper.The containment control problem is a special kind of the consensus problem.The corresponding system contains multiple leaders.Its objective is to design a control protocol for each follower to ensure that all the followers' states will move into the convex hull formed by the leaders' states.The study of containment control problems is motivated by many practical applications.The periodic sampled-data control is often limited by the limitation of hardware and software resources in practical application.To solve the containment control of linear multi-agent system,a novel event-triggered protocol is proposed to implement the containment control of multi-agent systems.At the same time,the Zeno behavior is excluded under the event-triggered protocol.A numerical simulation shows the validity of this conclusion.Finally,the switched dynamic is unavoidable in practical applications.Therefore,the event-triggered leader-following consensus problem of second-order switched nonlinearmulti-agent systems with disturbances is investigated.Through the neural network approximation theory and the back-stepping method,a novel event-triggered scheme is presented.The sufficient conditions for implementing the leader-following consensus are obtained.In addition,the feasibility of the proposed control protocol is verified by excluding the Zeno behavior.A numerical simulation is provided to illustrate the correctness of the theoretical result.