Consensus Of Several Multi-agent Systems Via Adaptive Pinning Control

Along with the progress of intelligent technology,the exploration of multi-agent system(MAS)has attracted the attention of scholars in various fields.The multi-agent system is widely used in the practical applications of control science,information theory,statistical mechanics and so on,such as formation control,cluster problem,swarm problem,sensor network and UAV coordinated control,and has achieved a lot in theory and application.Multi-agent system of cooperative control mainly studies tracking,aggregation,consensus issues and so on,among which the research on consensus is relatively advanced and hot.By coupling with each other or designing an appropriate controller,the state variables in the system converge to the target state with time,which is the consensus problem we want to study.This paper focuses on the group dynamic behavior of partial component consensus.Considering that there are various kinds of interference from the outside in the real system,which leads to the unstable state of the system,the adaptive pinning control scheme is proposed to ensure that the system can change the control gain according to the actual situation.In addition,considering the discontinuity of information transmission between multi-agent network systems,we design an adaptive intermittent pinning control,in which intermittent control is aperiodic.Because the constraints of aperiodic intermittent control are relatively easy to implement,aperiodic intermittent control is more universal than periodic intermittent control.This paper mainly studies the consensus of several multi-agent systems via adaptive pinning control.The main contents of are as follows:1.Partial component consensus refers to the phenomenon that some components of all state variables in the multi-agent system tend to be identical asymptotically and the remaining components do not necessarily tend to be identical over time.In order to reduce the influence of the uncertainty of the multi-agent system composed of leaders and followers,an adaptive control protocol is proposed to explore the partial component consensus of the first-order multi-agent system via adaptive pinning control.First,the concepts,theorems and some inferences of partial component consensus are given.The original error system is transformed into a new error system by means of permutation matrix.Accordingly,the partial component consensus problem of multi-agent system is transformed into the partial variable element stability problem of zero solution of new error system.Then,the Lyapunov function is constructed.With the help of algebraic graph theory,matrix theory and stability knowledge,sufficient criteria to guarantee exponential partial component consensus is given.Finally,the MATLAB software is used for numerical simulation to illustrate the rationality of the conclusion.2.The problem of partial component consensus of second-order multi-agent system is investigated by adaptive intermittent pinning control.Because of the uncertainty and complexity of the real life environment,an adaptive intermittent pinning control protocol is designed to convert the original deviation system into a new deviation system by permutation matrix.Based on matrix theory and the theory of partial variable stability,the consensus criterion is introduced,which makes the partial component stability of the system under exponential stability.Finally,numerical simulation experiments are carried out to verify the rationality of the conclusion.