Research On Distributed Control And Consensus Of Multi-agent System

With the rapid development of science and technology,multi-agent system appears in every field of real life.Due to its wide application prospects,scholars of different disciplines have developed a strong interest in distributed collaborative control of multi-agent systems and conducted in-depth research on it.The consensus problem is that the physical quantities of the controlled objects of the system tend to be consensus.As a basic problem of collaborative control,it has also been concerned by many fields.In practical application,due to the constraints of cost,network,external environment and other conditions,the consensus of multi-agent system is affected by many factors,such as time delay,nonlinear and external disturbance.In this paper,the consensus problem of multi-agent system is studied as follows:1)The consensus problem of discrete-time nonlinear multi-agent systems with time-varying delays is studied.First of all,an agent can only obtain neighbor information.Based on time-varying communication delay,a consensus protocol for relative position information between leader and follower and between adjacent followers is proposed.Secondly,one-sided Lipschitz condition is used to deal with the nonlinear term of multi-agent system.By constructing appropriate Lyapunov-Krasovskii function,the consensus criterion of leading-following problem is established under the framework of linear matrix inequality.More importantly,the gain matrix is solved by cone-complementary linearization algorithm.Finally,the simulation results show that the theory is correct.2)The consensus problem of discrete time multi-agent systems with communication delay and external disturbances is discussed.First of all,the information transfer between agents is carried out through the network.Considering the network delay and the relative position between agents,a consistency protocol is proposed.Secondly,Lyapunov stability theorem,Schur lemma and H_?consensus criterion are used,and the bilinear terms of matrix inequality are linearized by cone-complementary linearization algorithm,and the conditions that the multi-agent system satisfies linear matrix inequality are obtained.Finally,the simulation results verify the validity of the theory.3)In the undirected communication topology,the fixed-time consensus problem of a class of leadless multi-agent systems is studied based on the event-triggering strategy,considering the uncertain disturbance and nonlinear dynamic behavior of the systems.First,a consensus protocol is proposed and an appropriate event triggering function is designed.This policy only updates the control input when the event occurs,so the power consumption of the controller can be effectively reduced.Secondly,Lipschitz condition and Lyapunov stability theorem are used to give the conditions that can make the multi-agent system reach consensus in the expected time.It is worth mentioning that the multi-agent system does not have Zeno phenomenon under this control strategy.Finally,the feasibility of the theory is verified by two simulation examples.