Research On Consensus Control For Leaderless Multi-agent Systems

In recent years,consensus problem has attracted widespread attention from scholars,owing to increasingly and commonly application of coordination control for multi-agent systems in the fields,such as industry,transportation,unmanned aerial vehicles,and so on.Moreover,consensus is the most basic and key problem of coordinated control for multi-agent systems.Designing suitable consensus control algorithms by use of neighbor agents'information like positions and velocities of the agents,the states of all agents converge to be the same value with the passage of time.This paper investigates consensus problems of leaderless multi-agent systems in some situations,such as states of agents not available online,packet loss during information transmission,random changes of communication topologies,and so on.Furthermore,the specific contents are listed as follows:(1)The problems of observer-based adaptive consensus control for multi-agent systems is considered.For high-order multi-agent systems with nonlinear dynamics,consensus algorithms and adaptive laws based on the observer mechanism are proposed in the paper.Moreover,history information of agent's states is added in consensus algorithm.Furthermore,parameter gains are decided by adaptive control laws.By applying the Lyapunov function,stability theory,graph theory and linear matrix inequalities(LMIs)techniques,sufficient consensus conditions for multi-agent systems are obtained.Finally,results of numerical examples are used to verify effectiveness of proposed algorithms.(2)The problems of group consensus of heterogeneous multi-agent systems are considered.When data packets occur in the process of information transmission among agents,group consensus algorithms are given based on the positions and velocities information.By applying the Lyapunov function,stochastic analysis,graph theory and linear matrix inequalities(LMIs)techniques,sufficient group consensus conditions for multi-agent systems are obtained.Finally,numerical examples are used to verify effectiveness of proposed algorithms.At the same time,we analyze the impact of the packet loss rate on the group consensus problems of the multi-agent systems.(3)The problems of H_? consensus control for heterogeneous multi-agent systems under Markov switching topologies are considered.For discrete-time heterogeneous multi-agent systems,based on the current messages,outdated information stored in memory and communication time delay information from neighbors,a more general kind of distributed consensus algorithm is proposed.By applying stochastic analysis,model transformation techniques and graph theory,sufficient conditions of mean square consensus and H_? consensus are obtained respectively.Finally,simulation examples are given to illustrate the effectiveness of obtained theoretical results.