Research On Event-triggered Finite-time Consensus And Formation Control Of Multi-agent Systems

In recent years,multi-agent systems distributed consensus and formation control has become a research hotspot due to its high fault-tolerance,extensibility and computational efficiency.Consensus and formation control have been widely used in spacecraft formation attitude control and unmanned aerial vehicles(UAVs)formation control.It is worth noting that disturbance immunity,convergence rate and communication energy consumption are several important indexes to measure the properties of multi-agent systems.This paper will start from three indicators,concentrating on(1)the consensus control of multi-agent with unkown nonlinearities and external disturbances;(2)finite-time and fixed-time formation control;(3)Communication optimization problem of multi-agent systems based on event-triggerred mechanism.The innovative work of this paper is as follows:Firstly,to address consensus control problem of underactuated multi-agent systems with nonlinear uncertainties and external disturbances,a distributed fuzzy controller is designed to approximate the uncertainties.Considering that relative velocities are difficult to obtain in practical applications,an extended state observer(ESO)is designed to estimate velocity information and disturbance and an adaptive law is designed to enhance the disturbance immunity of the system.Lyapunov theory is used to analyze the stability of the system and the closed-loop system performance is stable and the consensus control is realized.Secondly,finite-time formation control problem of multi-agent systems with nonlinear uncertainties and external disturbances is investigated.A consensus-based finite-time formation controller is designed to make the system finite-time stable and convergence time of system have upper bound.Static event-triggerred mechanism without Zeno behavior is designed to reduce communication times and communication energy consumption.An example is given to verify the effectiveness of the algorithm.Finally,the multi-agent systems with nonlinear uncertainties and external disturbances is investigated.A consensus-based fixed-time formation controller is designed to make the system reach the desired formation at a fixed time and the setting time has an upper bound in dependent of initial states.Compared with the static event-triggered mechanism,the dynamic event-triggered mechanism without Zeno behavior is designed to further reduce unnecessary events and improve resource utilization.Thus ensuring that the system can achieve a faster convergence rate and reduce the occupancy of computing and communication resources.The effectiveness of the algorithm is verified by simulation comparison.