Research On Distributed Consensus Control For Multi-agent Based On Dynamic Event Triggering

In recent years,the distributed collaborative control of multi-agents has been extensively developed in mobile robots,drone formations,networked control,etc.,and has gradually become a research hotspot in the control discipline.However,there are still many things worth discussing about the most basic consistency problem.For example,in real life,communication is often performed through a shared network,which means that the network communication bandwidth and the computing resources of the agent are inevitably limited.Therefore,in this paper,by combining the control mechanism triggered by dynamic events,the general linear multi-agent system is researched.Under the premise of ensuring the stability and consistency of the system,it reduces unnecessary communication times and controller update frequency.The specific main work is as follows:(1)Aiming at the problem of distributed cooperative control of multi-agent systems with external disturbances,a novel dynamic event-triggering mechanism is designed,and a consensus control algorithm for state observers and disturbance observers is proposed,and the proposed dynamics are theoretically analyzed.Compared with the existing methods,the event-triggering mechanism can further reduce the number of triggers,thereby saving network communication resources.Based on the Lyapunov method,the stability and consistent performance of the system are analyzed,and an exponential term is added to the trigger function to prove the feasibility of the proposed dynamic event-triggering mechanism,which can guarantee the elimination of Zeno trigger behavior.Finally,a simulation example verifies the advantages of the proposed control algorithm in saving communication resources.(2)Aiming at the problem of fully distributed cooperative control of general linear multi-agent systems,combined with the novel dynamic event-triggering mechanism proposed in this paper,an adaptive dynamic event-triggered control algorithm is proposed.Through theoretical analysis,it is proved that the proposed control algorithm can avoid the use of global information such as the total number of agents and Laplacian matrix eigenvalues,and realizes the fully distributed control of the multi-agent system,thereby making the algorithm more conducive to practical applications.Based on the Lyapunov method,the stability and consistent performance of the system are analyzed.At the same time,a control algorithm for intermittent communication is designed to solve the problem of continuous communication between neighboring agents in the event-triggering mechanism.Finally,a simulation example once again verified the feasibility of the proposed control algorithm.(3)Aiming at the bipartite consensus problem of general linear multi-agent systems,a novel adaptive control algorithm is proposed based on dynamic event-triggering mechanism,which limits the coupling gain to a reasonable range and avoids possible parameter drift.At the same time,by introducing new adaptive trigger parameters,a dynamic event-triggering mechanism with self-adjustment capability is designed.Through theoretical derivation,the conditions for the bipartite consensus of the multi-agent system are given.At the same time,the bipartite consensus performance and stability of the multi-agent system are analyzed based on Lyapunov theory.By calculating the theoretical minimum trigger interval for event triggering,Zeno behavior is ruled out.Simulation experiments verify that under the proposed control algorithm,the multi-agent system can finally achieve bipartite consensus.