Consensus For Several Classes Of Discrete-Time Multi-Agent Systems Based On The Networked Predictive Control Scheme

Multi-agent system is mainly based on the autonomy,coordination and distribution of agents,which makes multiple agents cooperating with each other to complete the tasks that a single agent cannot complete.Because of the wide application of multi-agent system,it has been favored by many scholars at home and abroad.In the research field of multi-agent system,the consensus of multi-agent system is an important direction.Generally speaking,the consensus means that the agents use local information to make the state of each agent reaching consensus with the development of time.However,when the data information is transmitted through the network channels,it will inevitably experience the phenomenon of network induced delay.Therefore,how to effectively control the system through the available information based on the network predictive control system has important practical significance.In this thesis,based on the idea of network predictive control,a new consensus protocol is proposed to solve the consensus control problem of several classes of multi-agent systems with network induced delay.The specific work is summarized as follows:Firstly,the consensus problem is studied for the discrete-time multi-agent system with external disturbances.In order to reduce the influence of network induced delay on the system performance,a consensus protocol with predictive state information is designed based on the predictive control method.With the help of Lyapunov stability theory,some conditions are given to achieve consensus for the multi-agent system with communication delay.Secondly,the non-fragile H_?consensus problem is considered for discrete-time multi-agent systems with network-induced delays in both feedback and forward channels.A nonfragile consensus protocol with predictive information is designed by using the networked predictive control method,the gain matrices of the controller and the criterions for H_?consensus of the closed-loop multi-agent system are given by matrix theory and solving linear matrix inequality.Thirdly,the H_?consensus problem is discussed for discrete-time multi-agent systems with logarithmic quantization.The control signal is quantized to reduce the impact of broadband on the network.By considering the network induced delay in the feedback channel and forward channel,a consensus protocol with compensation effect for network induced delay is designed based on the network predictive control method,at the same time,with the help of Lyapunov stability theory,the sufficient conditions are derived to achieve the H_?consensus of multi-agent system.