Cooperative Competition Network Under Exogenous Distributed Stabilization

Under the cooperative competition network,this paper studies the distributed stabilization problem of heterogeneous agents in the cooperative competition network with exogenous disturbances and the distributed stabilization problem of heterogeneous agents in the uncertain strong and weak competition network,and designs the corresponding distributed controller.the details are as follows:The first chapter mainly introduces the research background of cluster behavior in multi-agent systems,the research status,the concept of network topology,and the introduction of related tools for dynamic stability analysis,such as nonsmooth systems LaSalle-Yoshizawa theorem,topological structure definitions of balance and unbalance,Barbalat lemma,etc.The second chapter studies the distributed stabilization of heterogeneous agents in cooperative competition networks under the premise of exogenous disturbances.Specifically,the dynamics of the heterogeneous agents are governed by the second-order systems with the nonlinear intrinsic dynamics where the heterogeneity of agents is mainly reflected in the following three aspects:the intrinsic dynamics of agents,the heterogeneous velocity damping terms,and the exogenous disturbances.With the assumption that the exogenous disturbances are bounded,the corresponding discontinuous distributed protocol and the estimation law of unknown parameters are designed.Then,with the help of the nonsmooth system LaSalle-Yoshizawa theorem and Barbalat's lemma,it is proved that no matter whether the network topology is structurally balanced or not,the heterogeneous multi-agent system can achieve robust distributed stabilization asymptotically as long as the control parameters of the distributed protocol are chosen appropriately.Finally,simulation is used to verify the effectiveness of the designed distributed controller.The third chapter studies the distributed stabilization of multiple heterogeneous agents in the uncertain strong-weak competition network under exogenous disturbances.Agents are modeled by first-order systems with different nonlinear internal dynamics.The uncertainty on the strong and weak competitive network is characterized by nonzero unknown parameters,and there are three different relationships between agents:cooperative relationship,strong competition relationship and weak competition.In order to achieve distributed stabilization,the whole network is first divided into two parts:identifiable part and unidentifiable part.A new distributed robust integral error(RISE)controller is designed for each agent,where the selection rules of the corresponding parameters are given.Theoretically,it is proved that the heterogeneous multi-agent system can achieve distributed stabilization regardless of whether the identifiable part is structurally balanced.Furthermore,for the case of bounded derivatives of nonlinear intrinsic dynamics,the designed robust integral controller ensures that heterogeneous agents achieve global distributed stabilization.Finally,two numerical examples are given to illustrate the effectiveness of the designed robust integral controller.The fourth chapter summarizes the full text,and points out the future research directions that can be indepth,that is,the swarming behavior of heterogeneous agents with switching topologies and the bipartite consensus analysis in the uncertain strong and weak competitive network.