Consensus Of Hybrid Multi-Agent Systems By Event-Triggered Strategy

The multi-agent system completes complex tasks through communication and collaboration between agents.It has the advantages of robustness,reliability,and flexibility,and has extensive practical applications in the engineering field.In actual engineering projects,it is often the case that different dynamic individuals cooperate to complete the work.In the multi-agent network,continuous or synchronous communication is difficult to achieve.The event-driven communication enables asynchronous communication and saves the energy consumed by system communication.Therefore,based on the event-triggered control method,thesis article takes the hybrid multi-agent system composed of continuoustime and discrete-time dynamics agents as the research object,and discusses the consensus of hybrid multi-agent systems with first-order or second-order integrators dynamic,respectively.The main contents include:Research on the consensus of first-order hybrid multi-agent systems by event-triggered method,where the multiple discrete-time and continuous-time dynamic individuals constitute a hybrid multi-agent group.In this part of the research content,firstly,a hybrid event-triggered method and control input are proposed.And based on the Lyapunov method and the La Salle's invariance principle,it is proved that the hybrid multi-agent system can achieve consensus under the designed event-triggered control strategy.Then,a selftriggered algorithm is further proposed,which predicts the sequence of event-triggered time instants.The self-triggered algorithm can not only avoid the extra calculation required for continuous monitoring of event-triggered threshold,but also make the agent self-run within the trigger interval.Research on the consensus of second-order hybrid multi-agent systems by eventtriggered method,where the multiple discrete-time and continuous-time dynamic individuals constitute a hybrid multi-agent group.The multi-agent systems with secondorder or first-order dynamics both have a wide range of practical application scenarios.The difference is that in the second-order hybrid multi-agent system,the event-triggered conditions not only need to consider the interaction between different dynamic individuals,but also need to consider the coupling between velocity and position.In this part of the research content,firstly,we give a selection criteria of the coupling gains,the eigenvalues of communication topology,and the event-triggered sampling interval to guarantee the hybrid consensus,which have an impact on system stability,due to the interaction and coexistence of discrete-time and continuous-time individuals.Second,the hybrid second-order consensus under the event-triggered strategy is proven by constructing an error system and analyzing the system matrix eigenvalues.