Cooperative Control Of Hierarchical Multi-agent System Based On Event-triggered

With the in-depth development of multi-agent system,because its collaborative control is widely used in civil and military fields,multi-agent system has become a research hotspot of scholars in all walks of life.One of the most concerned problems is the consistency of multi-agent system.In practice,with the change of environment,state,cooperative task or even time,agents will achieve different consistent behavior,that is,more to one.At present,the definition of multi consensus is to describe that each agent in nature or artificial system tends to be larger than one target state after a period of collaborative action.Therefore,this study mainly considers the consistency and Duozhi of multi-agent system.In order to adapt to the large scale and complexity of network and system under the rapid development of digital information technology,this paper chooses hierarchical multi-agent system structure.On the other hand,in order to improve the effectiveness of the experimental data,this paper uses event driven control method to reduce the experimental error caused by energy and bandwidth of multi-agent.Meanwhile,the linear multi-dimensional system and the second-order system are deeply analyzed in the way of partial research,so that the consistency problem is extended to the multi consistency problem.In this paper,the theoretical basis of this paper refers to the existing literature,comprehensive use of algebraic graph theory,matrix theory and system stability theory and other related knowledge,studies the cooperative control problem of hierarchical multi-agent system.The main contents are summarized as follows:In the first part,the consistency of linear layered multi-agent system is explored by event driven method,and then the conditions for the stability of linear layered multi-agent system are deduced.At the same time,the time delay problem between agents in the process of information transmission is also considered.Therefore,the consistency problem of linear hierarchical Multi-Agent system with hierarchical delay is further studied and divided Analysis.By controlling the range of gain parameters,the system can be consistent.Finally,some numerical examples are given to show the feasibility and effectiveness of the method.In the second part,the event driven method is used to explore the multi consistency of hierarchical second-order multi-agent system under directed topology,so as to deduce the conditions for the hierarchical second-order multi-agent system to be stable.At the same time,the event triggering conditions are also considered.Finally,the feasibility and effectiveness of the method are verified by numerical examples.The third part,summary and prospect.