Consistency Of Multi-agent Systems Based On An Event-triggered Mechanism

The coordinated control of multi-agent systems has been widely used in military and civil fields.So the consensus problem of multi-agent systems has aroused extensive attention of researchers at home and abroad.In this paper,the consensus problem of firstorder multi-agent systems with time delays,the bipartite consensus problem of first-order multi-agent systems with time delays and the consensus problem of multi-agent systems with second-order dynamics are investigated.The main contents are as follows:1.The research background of multi-agent systems is introduced,and the basic knowledge of algebraic graph theory and matrix theory is given.2.In daily application,considering the problems of packet loss,communication channel blocking and limited transmission speed,communication delays in multi-agent systems are inevitable.Periodic event-triggering control can reduce event-triggering frequency and effectively eliminate Zeno behavior,so as to achieve the purpose of saving resources.In this paper,the first-order multi-agent systems with time-varying communication delays are investigated,the average consensus of first-order multi-agent systems in directed and undirected topological networks is investigated by designing corresponding event-triggering function and using the method of periodic sampling and event control.3.In many practical applications,the relationship between agents is not only cooperative,but also competitive.So the research of bipartite consensus is very practical.Based on periodic sampling,the bipartite consensus problem of first-order multi-agent systems with constant and variable delays is investigated by using distributed event control method.Two cases of directed and undirected topological networks are considered.Finally,all agents can achieve bipartite consensus under lower communication frequency.4.In some systems,not only the states of agents but also the speeds of agents affect the uniformity of multi-agent systems.So the uniformity of second-order multi-agent systems has been widely investigated.For second-order multi-agent systems,two control protocols are proposed.One is an absolute damping protocol,and the other is a relative damping protocol.By establishing event-triggering function and using Lyapunov function method,the consensus problem of second-order multi-agent systems is investigated.It is concluded that under the two consensus protocols,the minimum time interval of eventtriggering is positive,so Zeno behavior is excluded.