Distributed Collaborative Control Of Multi-agent Networks Under Communication Constraints

In recent years,the theoretical research on cooperative control of multi-agent systems(MASs)has achieved remarkable results in domestic and foreign,and its results have been widely used in practical engineering fields,such as UAV formation flying,military air defense deployment,spacecraft attitude control,etc.The consensus,formation and containment control are important research directions in MASs collaborative control.Compared with the first-order system,the second-order system has more practical investigative significance,which further considering the velocity.The introduction of event-triggered mechanism can greatly reduce the update frequency of the controller.On this basis,further considering the limitation of communication bandwidth,the communication information between agents is quantified and then interacted,thereby reducing the bandwidth requirements of network communication.The main investigative contents of are as follows:First,the quantized-data interaction tracking control problem of second-order MASs based on event-triggered.It is assumed that there is at least one spanning tree in the communication topology,and the leader is the root node.The event-triggered function related to quantization is designed,a tracking control algorithm based on information quantization is proposed,which considers uniform quantizer and logarithmic quantizer respectively.By analyzing the stability of the Lyapunou function,sufficient conditions for achieving system tracking control are obtained,which depend on the control gain,quantization parameters,and the correlation matrix of network nodes.The numerical simulation results show that under the proposed control algorithm,the states of all the followers converge into a bounded ball of the leader state.Second,the containment control problems of second-order MASs under uniform and logarithmic quantizer are considered separately.Suppose that for any follower in the communication topology,at least one leader has a directed path to the follower.Aiming at the MASs with limited energy of the agent itself,the quantized-data interaction containment control algorithm of second-order MASs based on event-triggered is designed.Through the stability analysis of Lyapunou function and matrix theory,the sufficient condition that the system tends to be asymptotically stable is obtained,which depends on the control gain parameters,quantization parameters and network node Laplace matrix.The numerical simulation results show that under the proposed control algorithm,all followers can enter the convex hull opened by the leader and move with the leader at the same time.Finally,suppose that for any follower in the communication topology,at least one leader has a directed path to the follower.The formation-containment control algorithm of second-order MASs based on event-triggered was discussed separately under uniform and logarithmic quantizer.Matrix theory is used to analyze the stability of the Lyapunou function,and the sufficient conditions for the formation-inclusion control of MASs are given,which depend on the control gain parameters,quantizer parameters and the Laplace matrix of network nodes.The numerical simulation results show that under the proposed control algorithm,not only all leaders can achieve the desired formation,but also all followers can enter the convex hull opened by the leader,and follow the leader to move together.