Research On Consensus Of Multi-agent Systems Via Distributed Event-triggered Strategies

Since the 21 st century,the cooperative control of multi-agent systems has become a research hotspot,and has been widely used in engineering,such as formation of unmanned vehicles/aircraft,attitude control of multiple aircraft,and area coverage of mobile sensors.Consensus control is the basis of the cooperative control problem.Consensus means that the agent makes certain desired states tend to a common value over time.Therefore,the research on consensus control is of great significance.In order to achieve the consensus control of a multi-agent system,a distributed control strategy is usually adopted,so that a group of agents cooperate to complete tasks through local communication.In distributed control,the agent only uses the information of itself and its neighbors,which has the characteristics of easy scalability,high robustness and strong adaptability.Limited by channel capacity and sensor capabilities,event-triggered control strategies are usually adopted.Event-triggered control significantly reduces the amount of information transmission and the number of controller updates,thereby reducing the communication burden.The main content of the paper includes the following three parts:1.Consider the consensus tracking problem for Euler-Lagrangian multi-agent systems with unknown nonlinearities.By designing a dynamic compensator for each agent,a fully distributed adaptive control strategy is proposed.By designing an adaptive law to dynamically update the coupling gain,the control strategy does not depend on any global information related to the communication topology.2.For the first-order linear multi-agent system,the problem of consensus tracking control under the directed graph is considered.By introducing a time-varying scaling function,a continuous control protocol is designed,and a distributed control strategy is proposed.Devoloping an effective event-triggerred control mechanism,so that a completely prescribed convergence time can be obtained regardless of the initial conditions and any other parameters.3.Further considering the situation of multiple leaders of the first-order linear multi-agent system,devoloping a distributed event-triggered control strategy,using the same control protocol as the second part,to achieve consensus under the directed graph consensus containment,and can obtain a completely prescribed convergence time and avoid the occurrence of Zeno phenomenon.