Distributed Event-Triggered Average Consensus Coordination Control For Multi-Agent Systems

In recent years,with the continuous development of science and technology,the coordinated control of multi-agent systems has become a hot topic which has drawn much attention to the researchers.Consensus is the fundamental and most important problem in the multi-agent systems.In this paper,the state of the multi-agent system is decomposed into the state of disagreement vectors,and the corresponding research is carried out on the consensus distributed event triggering of the multi-agent system.It contains the following aspects:On the one hand,we studied the event-triggered average consensus of first-order multi agent systems.The state of the system is decomposed into the form of the consensus vector state and the disagreement vector state.Firstly,the first order multi-agent system is modeled as a reduced dimension multi-agent system,and the consensus problem is transformed into the stability problem.At the same time,we designed the distributed event trigger condition for the reduced dimension multi-agent system by the Lyapunov function method,where the event trigger condition depends on the state of the agent and its adjacent agents.Then,we analyzed the stability of the reduced dimension multi-agent system by the stability theory of Lyapunov stability theory.Finally,the minimum time interval between two consecutive event triggers is given,and the Zeno behavior is avoided.The feasibility and effectiveness of the results are shown by simulation.On the other hand,this section studied the distributed event triggering control consensus for second order multi-agent system.The system state include position and velocity vectors state.Firstly,the state of the system is decomposed into the form of the consensus vector state and the disagreement vector state according to the consensus,and we deduced the dynamic of second order multi-agent system which is related to disagreement vector state.Then,the second order multi-agent system is modeled as a reduced dimension multi-agent system,and the consensus problem is transformed into the stability problem.At the same time,we designed the distributed event trigger condition for the reduced dimension multi-agent system by the Lyapunov function method,and transformed into the event triggered function which is related disagreement vector state.Then,the stability analysis is carried out and the parameters of the system are given according to the stability theory of Lyapunov.Finally,the minimum time interval between two consecutive event triggers is given,and the Zeno behavior is avoided.The feasibility and effectiveness of the results are shown by simulation.