Triggered Containment Control Of Nonlinear Multi-agent Systems

With the rapid development of computer communication technology and distributed control,cooperative control of multi-agent systems has become a hot research topic in the control field and has been widely applied in industry,military,transportation and other fields in recent years.As one of the critical issues of cooperative control,containment control is of great significance and worth studying.In this dissertation,the containment control for several classes of high-order nonlinear multi-agent systems is investigated.Considering that the capacity of communication channels and the computing powers of agents are limited,event-triggered/self-triggered control strategy are adopted to make sure that the multi-agent system can achieve the containment control without exhibiting the Zeno behavior.The main research contents are summarized as follows:(1)The event-triggered containment control problem is investigated for a class of high-order nonlinear multi-agent systems,where the nonlinear functions for all the agents are assumed to satisfy a specified constraint condition.The event-triggered protocols with the corresponding triggered conditions are designed for both centralized and distributed cases,respectively.Then sufficient conditions for achieving the containment control are given by using the backstepping method and Lyapunov stability principle.In addition,to exclude the Zeno behavior,optimized event-triggered conditions are designed by adding the error threshold for two cases.(2)The event-triggered containment control problem is studied for a class of high-order heterogeneous nonlinear multi-agent systems.The system model is more general,where the nonlinear functions for each follower are heterogeneous and totally unknown.To achieve the containment control,objective routes are given for all the followers and the distributed event-triggered protocol and condition are designed for each objective route to converge to the convex hull spanned by the leader signals,then the control inputs are designed so that each follower can track its own route.During the design procedure,radial basis function neural network is used to approximate the nonlinear functions and appropriate adaptive control laws are designed.Finally,the proposed protocols can make the multi-agent system achieve the practical containment control without exhibiting the Zeno behavior.(3)The self-triggered containment control for a class of high-order switched nonlinear multi-agent systems is investigated.The nonlinear functions for each follower are totally unknown and asynchronous switched.In order to avoid the continuous monitoring of the state errors,both centralized and distributed self-triggered rules are given so that each follower can predict its next triggered instant.Then the control protocols under two cases are designed by using the backstepping method,neural network and adaptive control.It's proven that the designed self-triggered strategies for two cases can make the multi-agent system achieve the practical containment control without exhibiting the Zeno behavior.