Research On Consensus Control Of Multi-Agent Systems

For the past few years,the previous single-node control form has been greatly restricted in the traditional control system.Under such circumstance,the experts began to focus on the research of multi-agent system.It is extensively used in network of computer,formation control of unmanned aerial vehicle,satellite positioning and other fields.The consensus problem is the basis of multi-agent system research,which means that the state or output of the agent finally tends to be consensus based on information transfer.The consensus control problem of multi-agent system is studied and the main results are achieved as follows.In second chapter,the influence of nonlinear problems is considered in multi-agent systems,and the consensus tracking control scheme is investigated for multi-agents systems with input saturation and dead-zones.The proposed controller guarantees that all the closed-loop system signals are bounded and the outputs of followers can track the leader.Finally,numerical example demonstrates the effectiveness of the obtained results.In third chapter,the output-constrained control algorithm for non-affine multi-agent systems with actuator faults is studied.The error transformation method is employed to keep initial connectivity patterns in the non-affine multi-agent systems for consensus tracking control.The influence of unknown dead-zone is considered,and the radial basis function neural networks are utilized to estimate the unknown nonlinear functions.Furthermore,the Nussbaum function is used to solve the problem of partially unknown control direction problem.The controller is constructed based on the Lyapunov stability theory and backstepping method.Ultimately,the effectiveness of proposed approach is illustrated by some simulation results.In fourth chapter,the event-triggered consensus control problem for a class of multi-agent systems in the non-affine form is addressed.The dynamic surface control technique is adopted to obtain parameters of the virtual controller through a first-order filter,which can make the calculation easier.The unnecessary information transmission can be reduced through the event-triggered control strategy.At last,the effectiveness of the controller is verified and there is no Zeno behavior in the system.