Formation Control Of Multi-agent Systems Using A Dynamic Event-triggered Communication Mechanism

In recent years,scholars have been deeply studying complex dynamic systems,and modern control technology has been developing rapidly.The consensus and formation control of multi-agent systems have also attracted the attention of many scholars and been studied in depth.In the fields of cooperative control of multi-mobile robots,target rescue and intelligent transportation,the existing research achievements on the consensus and formation of multi-agent systems are widely applied.Therefore,the research of multi-agent system consensus and formation control has important theoretical value and wide application prospect.The consensus of multi-agent system means that the state of multiagents in the system tends to be the same depending on the information communication between the agents and the designed controller.The formation problem of multi-agent system is that according to the information exchange between the designed controller and the multi-agent,the multi-agent in the system cooperates to achieve the desired geometric formation.However,in the existing research results,the consensus and formation of multiagent system require frequent information exchange among multi-agent system,which will cause unnecessary consumption of communication resources.In this paper,the consensus and formation control of multi-agent system based on dynamic event-triggered mechanism are studied,and communication resources are saved by dynamic event-triggered mechanism.The main research contents include the following three aspects:(1)The consensus problem of general linear multi-agent system based on dynamic event-triggered mechanism is studied.Based on the existing event-triggered mechanism,a new dynamic event-triggered mechanism is designed,and auxiliary parameter is introduced into the event-triggered condition.Dynamic event-triggered mechanism can effectively reduce the number of information transmission between multi-agents system and save communication resources.Distributed consensus control protocol is developed based on dynamic event-triggered mechanism,which ensures that all the multi-agents in the system can achieve the consensus with exponential convergence speed.After theoretical analysis,it is shown that the state of multi-agents in a general linear multi-agent system can reach the consensus without the occurrence of Zeno phenomenon under the action of the consensus protocol of multi-agent system by dynamic events-triggered.Finally,the correctness of the theoretical results is verified by simulation.(2)The formation control problem of general linear multi-agent system based on dynamic event-triggered mechanism is studied.The dynamic event-triggered mechanism is designed to reduce the number of communication between multi-agents in the system,thus reducing some unnecessary data exchange,so that the communication resources of multiagents can be better utilized.Different from most of the existing event-triggered communication mechanisms,the auxiliary parameters in the proposed dynamic eventtriggered condition is dynamically adjusted according to the rules.The numerical results show that this method can significantly reduce the communication frequency between multi-agents in the system.Then,a distributed formation control protocol based on dynamic event-triggered is designed,and the formation control problem is transformed into the asymptotic stability problem of the closed-loop system.Lyapunov stability theory is used to prove that the closed-loop system is asymptotically stable,and the general linear multiagent system based on dynamic event-triggered mechanism can achieve the desired formation.Finally,the correctness of the theoretical results is verified by simulation.(3)The cluster formation control problem of multi-agent system based on dynamic event-triggered mechanism is studied.The multi-agents in the system are divided into M different clusters,and the multiple agents in each cluster do not overlap,and the multiagents in each cluster achieve a desired geometric formation.As a whole,the multi-agent system can complete M cluster formation,so that the multi-agent system can realize multiple formation tasks.The dynamic event-triggered communication mechanism is adopted in the communication between agents in the system.A dynamic event-triggered packet formation control protocol is developed,and the packet formation control problem is transformed into the asymptotic stability problem of the closed-loop system through theoretical analysis.It is proved by Lyapunov theory that the closed-loop system is asymptotically stable,and the general linear multi-agent system based on dynamic eventtriggered mechanism can achieve the desired cluster formation.Finally,the correctness and effectiveness of the proposed method are verified by simulation.