Research On Coordinated Control Of Heterogeneous Multi-agent Systems With Noises

Coordinated control of multi-agent system has been widely used in the engineering field,such as communication network congestion control,cooperation control,distributed sensor network,unmanned aerial vehicle formation and so on.It has become a hot issue in the control field.One of the basic problems in coordinated control is the consensus problem.At present,the consensus of homogeneous systems is mostly studied,and in practical applications,there are some problems that need to be solved by the consensus of heterogeneous systems.However,the results of research on the consensus of this aspect are relatively few.And in the actual environment,the noise,time delay,dynamic communication topology and other factors may limit the communication between agent,thereby affecting the systematic and destabilization system stability.Therefore,this thesis studies the coordinated control of heterogeneous multi-agent systems with noise.The main contents are as follows:1.By using graph theory,stochastic analysis,Lyapunov stability theory and other knowledge,the consensus problem of heterogeneous multi-agent system with noise and delay is studied.Multi-agent systems with leader-follower are considered in both fixed topology and switched topology.Reasonable consensus protocols are designed,and it is proved that the followers can follow the leader incrementally under noise and delay conditions.In addition,the sufficient conditions for the system to achieve consensus are given.At the same time,the upper limit of time-delay is given.2.By using the knowledge of matrix theory,graph theory,probability theory and Lyapunov stability theory,the consensus problem of heterogeneous multi-agent system with additive noise is studied.Considering fixed topology and switched topology,reasonable consensus protocols are designed,respectively,and sufficient conditions for the system to reach mean-square bounded consensus is obtained.3.By using matrix analysis,probability theory and Lyapunov stability theory,the consensus problem of heterogeneous multi-agent system with multiplicative noise is studied.Under fixed topology and switched topology,some consensus protocols are designed based on multiplicative noise of neighbor agent information,and sufficient conditions for the system to reach mean-square consensus is given.In conclusion,this thesis studies the consensus of heterogeneous multi-agent systems by designing reasonable control protocols.Some sufficient conditions for the consensus are given.And presented numerical simulations verify the effectiveness of the method and the rationality of the theoretical results.