Semi-Global Bipartite Consensus Of Discrete Time Multi-Agent Systems With Intermittent Communication

In recent years,with the development of network and intelligent,researchers have a substantial growth in interest in the coordinated control of multi-agent systems.Consensus is one of the fundamental problems in the study of multi-agent systems coordination control.And theories about consensus have been widely used in many aspects,such as sensor network,UAV formation,multi-satellite attitude control and so on.The existing works on consensus of multi-agent systems mainly focuses on the system which is composed of the cooperation among agents,However,there is still competition among agents in practical applications.For this problem,this thesis mainly did the following works:1.The semi-global bipartite consensus problem of discrete time multi-agent systems with cooperation-competition relationship is discussed.Firstly,the intermittent control protocol is designed under the condition that the state information of network node is fully known in undirected fixed/switched topology.For systems with incomplete state information,state observer is established by using output information,and consensus algorithm of intermittent control based on output feedback is proposed.When the stability of the above two cases is analyzed,error systems are established,and Lyapunov functions are constructed,respectively.At the same time,the low gain feedback method is used to keep saturation functions in the linear region.Then,the error systems take gauge transformation,and Laplacian matrix under signed graph is transformed into a common Laplacian matrix.With the help of algebraic graph theory and Lyapunov stability theory,the convergence analysis and communication rate under intermittent control are given.Finally,the rationality of the proposed algorithms is verified by Matlab simulation.2.In order to reduce unnecessary information update transmission times of the controller,event-triggering strategy is introduced on the basis of the previous chapter.Aiming at the two situations where the state information of the agents is knowable and not completely knowable,control protocols are designed by the low gain feedback method,respectively,and event-triggering conditions are deduced.By means of algebraic graph theory,Young's inequality and Lyapunov stability theory,the conditions for systems to realize bipartite consensus are obtained.Finally,two Matlab simulation examples are used to verify the rationality of the results.