| Coordinated control of multi-agent systems is the frontier of artificial intelligence research in recent years,and consensus problem is one of the basic researches of coordinated control.The consensus problem is a control method of designing a control input for an agent that enables all agents to communicate the final state of information through the designed control input.However,traditional consensus protocols require uninterrupted and continuous communication between agents.To avoid high performance device requirements and resource consumption resulting from a large number of communication interactions,event-triggering control mechanisms have been introduced into the study of consensus issues.On the basis of previous works,the event-triggering-mechanism-based control problem is studied in this paper by utilizing algebraic graph theory,matrix theory and Lyapunov stability theory.The main contents are as follows:1.To solve the consensus problem of first-order multi-agent systems,a consensus protocol and an event-triggering function are designed as controllers in the case of both leaders and non-leaders,so that each agent can update the controller's data only at the time of event-triggering instance,which ensures the system can achieve consensus and tracking consensus.2.Based on event-triggered control,the consensus problem of second-order multiagent systems is investigated,a new control protocol and distributed event-triggering conditions are designed,and the error system is ensured to be stable by linear matrix inequality and Lyapunov stability theory.Sufficient conditions for the system to achieve consensus are analyzed.3.On the basis of 1 and 2,the leader-following and leaderless general second-order multi-agent systems are investigated.Consensus protocol and triggering conditions are designed under the event-triggering mechanism,and the criteria for system stability are obtained through theoretical analysis.Finally,a simulation example verifies the validity of the method. |
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