Research On Consensus Of Multi-agent Systems Based On Event-triggered Control

Recent years,with the increasing number of applications of agents in life,control systems have become more and more complex,and people have higher requirements for the resources,computing,and communication capabilities of the agents themselves.In order to reduce the communication resource occupation of multi-agent system and reduce the system resource loss,the research on event-triggered multi-agent system consensus has more practical significance.In this thesis,an effective distributed event triggering control strategy is proposed for general linear multi-agent systems.An event-triggered controller is designed based on the idea of state prediction.The controller can make the state of the agent system through a limited number of communication trends.Besides that,it does not appear Zeno phenomenon.Based on this,the output feedback control is used to construct the observer,and an observer-based output feedback controller is proposed to solve the multi-agent system consensus problem when the system state is unmeasurable.The event-triggered Consensus control of multi-agent system with parameter uncertainty is studied.Aiming at the problem of norm-bound time-varying uncertainty parameters in the system,a method of designing feedback gain is proposed.At the same time,the state is utilized.The idea of state prediction by the transfer matrix is designed to enable the event-triggered controller,which enables the multi-agent system to achieve system Consensus even in the case of discontinuous communication,and effectively proves that the Zeno phenomenon does not occur in the system.Based on this,the design and proof of the output feedback event-triggered controller to solve such problems is further completed.The event-triggered control of multi-agent system with leader is studied,and a new event-triggered controller is proposed.Under this controller,all following agents can accurately track the leader in the case of discontinuous communication.On the basis of the previous thesis,the situation that the follower has matching external disturbances signal is studied.The event-triggered controller can effectively compensate the external disturbances term,and a new event-triggered control strategy is proposed to solve the problem of follow-up external disturbances.By using Lyapunov stability theory and solving the dynamic equation solution of the system,the necessary and sufficient conditions for the system to achieve the Consensus of leader-following the proposed event triggering conditions are obtained,and the Zeno phenomenon is effectively eliminated.