Research On The Asynchronous Consensus Of Multi-Agent Systems

In recent years,with the continuous progress of the scientific research on biological clusters,researchers have conducted more in-depth and accurate scientific analysis on the coordinated behavior of groups which commonly exists in biological populations in nature,such as the collaborative division of labor among ant colonies,the parade of fish colonies and the migration of birds,which has led to a lot of research on the collaborative control of multi-agent systems.In collaborative control consensus,agents share their own information with each other,which may drive the systems to achieve a common goal or reach the desired value of a specific state variable.However,when the time of information transmission is intermittent,time instants of information transmission between agents is not necessarily meanwhile.Explanation of asynchronous is that the time instants of communication between agents is independent.The situation of information exchange between multi-agent systems asynchronously is more in line with the real application than synchronous,so it is of great practical significance to study the asynchronous consensus of multi-agent systems.In this paper,we mainly study the consensus of asynchronous data sampling in multi-agent systems.Based on the algebraic graph theory and Lyapunov function theories and lemmas of impulsive differential equation and tree-type transformation,we give some sufficient conditions for the consensus of multi-agent system under different models and assumptions.Then we verify effectiveness of the research results by experimental simulations.This paper will introduce mainly the contents from the following aspects:At first,the asynchronous consensus problem with communication delay is studied for the second-order multi-agent systems with one leader.Considering the different discrete communication instant between each agent and its adjacent points,and the situation of undirected switching network connection topology in multi-agent systems,an asynchronous impulsive consensus protocol with one leader under the condition of periodic switching topology is proposed,and a theoretical analysis of the protocol is made.By constructing a suitable Lyapunov function,the sufficient conditions are set up to guarantee that the proposed asynchronous impulsive protocol leads to asynchronous consensus based on Lyapunov stability theory Then simulation is performed to validate the theoretical results.Secondly,we are concerned with investigating the leader-following asynchronous consensus of heterogeneous nonlinear second-order multi-agent system.The heterogeneous system we considered consists of second-order agents with different nonlinear structures and a leader,where the nonlinear dynamic of the leader is also distinctive.And a valid asynchronous impulsive protocol is designed for heterogeneous agents to track the leader.Furthermore,in virtue of the graph theory and the Lyapunov approach,a sufficient condition is established to guarantee that the leader-following consensus problem can be solved in the case of asynchronous information transmission.Then,two MATLAB numerical simulation examples are drawn to simulate the heterogeneous nonlinear second-order multi-agent systems,the effectiveness of the proposed method is demonstrated.Finally,Considering the impact of impulsive perturbations in multi-agent systems,the leader-following consensus of multi-agent systems with different gain of asynchronous impulsive perturbations is studied.Based on matrix analysis,impulsive theory,algebraic graph theory and Lyapunov theory,the leader following asynchronous consensus problem is transformed into the stability problem of the error system and the condition of leader-following consensus of multi-agent system is obtained.In addition,the experimental simulation proves the feasibility of the conclusion.