Coordinated Control Of Event-driven Multi-agent Systems

In recent years,with the wide application prospect of multi-agent system in many fields,more and more researchers have paid attention to it.Many research results have been applied to UAV formation control,UAV fleet control and other fields.Consensus problem is the basic problem of multi-agent system coordination control,which refers to the use of information exchange between agents to design an appropriate controller,so that the state of all agents in the system eventually converges with time under the action of the controller.Traditional control protocols rely on the continuous information transmission between agents,which will cause large energy consumption and unnecessary waste of resources.The event-triggered control strategy can avoid continuous communication and effectively reduce the energy consumption.This paper will study the consistency of event-triggered in multi-agent systems.This paper systematically summarizes the background and research status of cooperative control of multi-agent system,and gives the knowledge of algebraic graph theory,event-triggered theory and DoS attack.The observer-based event-triggered coordinated control for multi-agent systems is studied.For multi-agent systems in which the leader has unknown inputs,an event-triggered consensus control strategy is proposed,thus to guarantee that the closed-loop tracking error signal is uniformly bounded and there is no Zeno behavior.Moreover,the coordinated fault-tolerant tracking control of the leader with unknown input is considered,a decentralized event-triggered controller is designed by constructing a local observer and a fault estimator to estimate the state and actuator bias faults.It is proved that the proposed event-triggered controller can guarantee that the estimation error and the tracking error are uniformly ultimately bounded,and the Zeno behavior will not occur during the operation of the system.The event-triggered coordinated control of multi-agent system under DoS attack is studied.Firstly,the distributed event-triggered controller is given under fixed topology.When the system is normal and the system is attacked by DoS,different forms of the controller and piecewise Lyapunov functions are selected.It is proved that the proposed control strategy ensures that all followers can track the leader.Moreover,the coordinated control problem under DoS attack is studied under switching topology.The event-triggered controller is designed,and it is proved to be able to achieve leader-following consensus,and Zeno behavior does not occur when the system runs.Numerical simulation proves the correctness of theoretical analysis.