Research On Second-order Consensus Control Of Switched Multi-agent Systems

The research on collaborative control of multi-agent systems not only helps to reveal the internal mechanism of biological collective behaviors,but also helps to solve practical applications such as UAV formation,smart grid and transportation network.The second-order dynamic model contains position and velocity terms of individuals,which can better reflect the motion characteristics of individuals in real life.So,more and more researchers focus on the research of second-order multi-agent systems.In addition,the switching behavior will not only occur in the network topology of the system,but also in the dynamic behavior of the individual.The second-order consensus problems of a new type of switched multi-agent systems need to be studied urgently,where the dynamic of individuals switches between continuous time(CT)dynamic and discrete time(DT)dynamic.However,due to the limited communication bandwidth and the limitation of the controller equipment,it is difficult to achieve continuous update of information for controllers in practical applications.Therefore,we focus on the secondorder consensus problems of CT-DT switched multi-agent systems with the continuestime control strategy and the sampled data control strategy,and the specific research content is as follows:1.Research on the second-order consensus problem of multi-agent systems with switching dynamics is studied,and the switched system switches between the CT subsystem and the DT subsystem.Under the digraph,a novel distributed consensus protocol is designed for the second-order multi-agent system,that is,the CT control method is used for the CT subsystem,and the DT control method is used for the DT subsystem.For this control protocol,through the combination of the system conversion method,stability principles,and iterative algorithms,the necessary and sufficient conditions for reaching agreement are derived,and the explicit expression of the relationship between the network topology and the coupling gain of the controller is given to make the system reach consensus.2.Research on the consensus problem of second-order multi-agent systems with CT-DT switching dynamics under the directed communication topology is studied,and a distributed consensus protocol based on the sampled information control method is proposed.The CT and DT subsystems use the same control strategy,that is,sampled data control.Therefore,when the system switches,the controller does not need to switch back and forth between two control protocols.Using this algorithm is more practical,and has the advantages of robustness and low cost.Combining the system conversion method,stability principle and iterative algorithm,the switched system can be proved to achieve consensus and some sufficient and necessary consensus conditions are obtained.3.Research on the consensus problem of second-order multi-agent systems with CT-DT switching dynamics under the directed communication topology is studied,and a distributed consensus protocol based on the sampled position information control method is proposed.The CT and DT subsystems use the same control strategy,that is,sampled position data control.Therefore,this control strategy only uses the position information of the current sampling time and the previous sampling time to cope with the situation where it is difficult to obtain speed information.It also has the advantages of robustness and low cost.Combining the system conversion method,stability principle and iterative algorithm,the explicit expressions of the relationship between the network structure,coupling gain and sampling period are given to make the switched system reach consensus.