Research On Distributed Coordination Control Of Linear Multi-agent Systems With Intermittent Communications

In recent years,Multi-agent systems(MASs)are widely used in many areas,such as cooperative control of unmanned air vehicles,formation control,synchronization of coupled oscillators and so on;The distributed coordination control of MASs has attracted more and more researchers' attention.Up to now,most literatures concerning the coordination control of MASs are derived based on a common assumption that the information is transmitted continuously between agents.However,there is not much research on intermittent communication.In this paper,the consensus and robust stabilization issues of general linear MASs with intermittent communications are investigated.Our main contents and contributions are summarized as follows:1.The consensus issues of continuous-time and discrete-time general linear MASs with intermittent communications are studied,respectively.For continuous-time MASs,we analyze the equivalence between stabilization and simultaneous stabilization.Simultaneously,we give the design method of control gain matrix and establish the consensus criteria.Unlike continuous-time MASs,for discrete-time MASs,whether the communication topology is directed or undirected,the connection weights need to be designed as a control parameter.Hence,we propose the design method of connection weights and give the sufficient conditions for the system to achieve consensus.2.The robust stabilization problem of general linear MASs with intermittent communications is studied.First,based on the information of agent's neighbours,the own information of root agent and intermittent communications,the control protocol is proposed.Then,coupling strength and feedback gain matrix are designed by means of algebraic graph theory,matrix theory and Lyapunov stability theory.Finally,it's proved that the robust stabilization of system can be achieved when the communication rate is larger than a threshold.