Leader-Following Consensus Of Multi-Agent Systems Under Switching Topology

The main research of multi-agent systems(MASs)is to make the independent agents complete complex control tasks or solve complex problems through mutual communication and cooperation.The cooperation between agents is mainly reflected in two aspects: All agents can achieve a common goal;In the process of achieving the goal,the agents exchange information and communicate with others.The agents can independently collect the surrounding environment information and other agents' information and communicate with other agents,calculate and complete the control action to achieve the goal.This paper mainly studies the leader-following consensus of MASs.The main work is as follows.Firstly,the problems of leader-following consensus of heterogeneous discrete-time linear networked MASs with communication delays and data packet losses are investigated.Two networked control protocols are proposed to solve the problem when agents receive their own information with or without communication delays and data packet losses.The consensus of leader-following states of MASs is investigated under switching topologies,and the asymptotic stability of MASs is guaranteed.The network predictive control method is used to predict the current information by using the outdated information,and actively compensate the communication delays and data packet losses.Then,it can be confirmed that the consensus of MASs has nothing to do with the communication delays and data packet losses,only with the communication topology and structure of MASs.When there is at least one follower agent connected to the leader agent through a directed edge,sufficient conditions are obtained to achieve the leader-following consensus and asymptotic stability.Secondly,the problem of leader-following output consensus of heterogeneous MASs with communication delays and reference output under switching topologies is investigated.It is considered that leader and followers have different dynamic models,that is,the structure and the state of leaderfollowing MASs are different.At this time,it is meaningless to study the state consensus of heterogeneous MASs,and the output consensus is more significant.The communication delay and data packet loss caused by limited network bandwidth and communication channel congestion,the network predictive control method is used for active compensation.The distributed protocol is designed and the sufficient conditions for leader-following consensus and asymptotic stability of MASs are given.Finally,MATLAB is used for numerical simulation.The simulation results may not achieve the desired effect or even cannot achieve consensus under the control protocol with communication delays and data packet losses.The control protocol with predictive control designed in this thesis can achieve the anticipate result and achieve consensus.It is almost consistent with the case without communication delays and data packet losses.