Event-triggered Consensus Control For Linear Multi-agent Systems

The cooperative control of multi-agent system aims at completing complex control tasks through information interaction and collaboration among agents.Collaborative control is an important research direction in the field of multi-agent systems.Based on event-triggered strategy,this paper study on the control protocol of general linear multi-agent systems.Firstly,for unmeasurable state,this paper studied on observer based linear multi-agent system.Secondly,for parameter uncertainty,this paper studied on the consensus problem of linear multi-agent systems with uncertain parameters.The main contribution of this paper is shown as follow:This paper forcus on the consensus problem of linear event-triggered multi-agent systems based on observer.For unmeasurable linear multi-agent system,an observer based consensus control protocol has been proposed.This paper introduce an observer to realize output feedback control,which ensure the stability of the closed loop system.The unmeasurable or undetectable problem of the system state can also been solved.In order to avoid the waste of system resources caused by continuous communication,event-triggered communication strategy has been adopted.This method can prevent Zeno phenomenon.Based on event-triggered strategy,the consensus problem of linear multi-agent systems with norm bounded parameter uncertainty has been studied.The parameter uncertainty has been introduced into system,and the mathematical model of actuator has been established to make system robust.In this paper,the consensus protocol of linear multi-agent system has been designed respectively for uncertainty of the system matrix,the uncertainty of the input matrix and the uncertainty of system matrix and input matrix.By introduce the eventtriggered strategy,the continuous communication between agents can be avoided,which can tremendously save system resources.Finally,the Zeno phenomenon is eliminated and the effectiveness of the control protocol has been verified by simulation.The consensus control protocol proposed in this paper are based on the event-triggered communication strategy.By presetting triggered threshold,the communication between each agent will be triggered when trigger conditions were satisfied.This method can prevent continuous communication between agents,reduces the number of updates controller,and improves the utilization of the system resources and prolongs the service life of the agent.