Research On Finite-time Consensus Of Second-order Multi-agent System Based On Event-trigger Scheme

With the rapid development of network communication technology,multi-agent system has become an important research method for the analysis of complex systems such as artificial intelligence.By means of information transmission and communication between agents,various complex situations that may occur in information exchange in the real system are simulated.The application of event trigger strategy can make the control input of the system continuously updated,but updated according to the designed trigger conditions,so as to better reduce the communication burden of the channel,so that the system can reach the same time limit faster.Based on the event-triggered strategy,the finite time consensus analysis of secondorder multi-agent system is carried out in this paper.The main work is as follows:Firstly,the finite time consensus problem of second-order time-delay systems under a fixed topology network is studied.A second-order nonlinear event trigger control protocol is designed.With the help of lyapunov function theory,all the tracking agents can reach the same position and speed in finite time and track the leader.Secondly,the finite time consensus of second-order leader-follower system with external disturbance is studied.Firstly,the control protocol is used to make the second-order leaderfollower system converge,and then the system is converted into an integral variable structure system by integrating synovial function,so as to deal with the interference in the system,and at the same time,the accurate value of pause time is obtained.Thirdly,the finite time consensus problem of second-order leader-follower system with disturbance and unknown velocity is studied.Firstly,the second-order system with velocity state is analyzed.The protocol update in the system is controlled by the event trigger condition.For the case of unknown velocity,a velocity observer is designed for analysis.This velocity observer is used to estimate the velocity information,which can also make the second-order system reach the same limit time.