Event-triggered Consensus Control For Linear Multi-agent Systems With Cooperative And Antagonistic Interactions

Multi-agent systems widely exist in the actual production and life,which is the research hotspot in the field of control.As the basis of coordination and cooperation between agents,the consensus problem is more concerned.Due to the limitation of energy supply,the multi-agent systems with embedded microprocessor as the core has many constraints in practical application.Therefore,the consensus control protocol should not only meet the performance requirements,but also improve the resource utilization.Eventtriggered control has a significant effect on reducing resource consumption,which is considered as an excellent control strategy in resource-constrained environment.In addition,the existing literature on the consensus of multi-agent systems under event-triggered control is mostly aimed at systems with only cooperative relations among agents,which has great practical limitations.In this paper,we will focus on the event-triggered consensus control for linear multi-agent systems associated with cooperative and antagonistic interactions.The main research contents and results include the following aspects:For linear multi-agent systems with structurally balanced directed graph,an observerbased event-triggered control strategy is proposed,in which the state observer is used to estimate the actual state of the system.For each agent,two event-triggered mechanisms are designed,the one is placed in the output side of the agent and the other in the controller.Thus the establishment of the state observer is based on the discrete output information sampled at the corresponding triggering time instants.And the inter-neighboring transmission of the observed states occurs at the moments when the corresponding triggering condition of the agent is satisfied.Meanwhile,the triggering conditions designed do not rely on continuous inter-neighboring communications.With the help of the algebraic graph theory and Lyapunov stability theory,it is proved that the bipartite consensus can be achieved.Furthermore,Zeno behavior can be avoided in both sides.For linear multi-agent systems with structurally balanced undirected connected graphs,a practical prescribed-time event-triggered bipartite consensus control strategy is proposed.For each agent,the control law and the triggering conditions that require the sampling states of itself and its neighbors are designed.By using Lyapunov stability theory and graph theory,it is verified that the practical bipartite consensus can be achieved at fully prespecified time with a adjustable neighborhood range.In addition,we prove that the lower bound of the inter-event interval is positive in the whole time span,thus Zeno is excluded.The observer-based event triggered control strategy and the practical prescribed-time event-triggered control strategy are applied to the research of the attitude consensus of satellite formation based on the rotating inverted pendulum system.After the linearization modeling,it is proved that each satellite can achieve the overall consensus with less communication frequency under the premise of maintaining its own stability.Finally,we summarize the whole paper and point out the shortcomings.