Distributed Control Of Lower Triangular Multi-agent Systems With Input Time Delay

In recent years,inspired by the research of natural biology and the rapid development of computer communication and embedded technologies,cooperative control of multi-agent systems has received significant research attention by scholars in various fields.Multi-agent systems can complete complex tasks that cannot be completed by a single system through the cooperation of the information interaction between the subsystems,and have the advantages of high efficiency,high fault tolerance,and scalability.In practical applications,limited by the network bandwidth and channel,there will be a certain communication delay in the process of information interaction between the subsystems of the multi-agent systems.Based on the Lyapunov stability theory,this dissertation mainly studies the distributed control problem of lower-triangular multi-agent systems with input delays.The main contents are as follows:(1)The leader-following state feedback consensus control problem is studied for nonlinear multi-agent systems with input delays.The system input delays are different and known time-varying functions,and the leader's control input is allowed to be an unknown bounded time-varying functions.Under these conditions,a distributed fixed-time observer is designed for the followers,which can accurately estimate the leader's state information within a fixed time.Using the truncated predictive control method,a distributed consensus controller based on the fixed-time observer and input delay is designed.Based on Lyapunov stability theorem,the sufficient conditions are presented for realizing the leader-following consensus.(2)The distributed containment control problem of nonlinear multi-agent systems with input delays based on output feedback is studied.The nonlinear term of the follower system is unknown.Using the approximation ability of the fuzzy logic system,the unknown nonlinear term of the system is estimated.A fuzzy adaptive state observer is constructed to estimate the unmeasurable state of the system.The effect of input delay is compensated by using the integral compensator term.The barrier Lyapunov function is introduced to constrain the system state,and the backstepping control method is used to design the output feedback distributed containment controller to ensure that the follower's output information moves into the convex hull generated by the leaders.The state observer constructed based on the fuzzy logic system removes the restrictive conditions on the nonlinear term of the system.