The Heterogeneous Multi-agent System Is Based On Event-based Consistency And Enveloping Control

Along with the development of science and technology,the consensus and containment control of multi-agent systems have attracted extensive attention of scholars in China and abroad.The consensus and containment control problems of heterogeneous multi-agent systems are the main focus of this paper.The main contents include:1.The research background of multi-agent systems is introduced,and the knowledge of graph theory and matrix theory is given.2.The consensus of multi-agent systems based on event is studied from the different topologies.Based on the topology graph as undirected one,the consensus algorithm is designed based on second-order neighbor information about the location graph,and the event triggering mechanism is designed to ensure that the systems can achieve consensus.3.The group-consensus problem of multi-agent system based on events is studied from different topologies.For the undirected graph,the consensus algorithm is designed based on competition and the event triggering mechanism is establised to ensure that the systems can achieve group-consensus.4.The containment control problem of multi-agent systems based on event is studied from different roles of agents.For the directed graph,the containment control algorithm based on event is designed.In the end,each leader converge to its initial goal and the followers converge to the convex hull formed by the leaders.