Pinning Group Consensus For Cooperative-competitive Heterogeneous Multiagent Systems With Distributed Event-triggered Control

The cooperative control problem of multi-agent systems is an important research branch of distributed artificial intelligence.The group consensus problem for multi-agent systems is one of its root problems,and widely used in robot formation control,intelligent traffic control,intelligent city,and other practical application environments.Researching group consensus problems for multi-agent systems aims at better application of complex systems,which can serve human social life,and has the important theory research value and practical significance.Because of the disturbance of environmental changes,the dynamic behaviors of individuals in multi-agent systems are different.However,most of the existing work focuses on the homogeneous multi-agent systems.Due to the limitation of communication resources,there are cooperative and competitive relationships in the system.But most of the existing work only considers a single cooperative or competitive relationship.Obviously,this is not suitable for complex practical application scenarios.In addition,in order to reduce the system's traffic and the economic cost,researchers began to use both event-triggered and pinning control methods.However,few scholars have proposed the corresponding the pinning control strategies.Inspired by the above analysis,the group consensus problem for cooperative-competitive heterogeneous multi-agent systems is studied by using event-triggered and pinning control.And the main research contents in this thesis are as follows:Firstly,based on event-triggered and pinning control,the copule-group consensus of heterogeneous multi-agent systems with cooperative and competitive relationships is discussed.The event-triggered conditions are designed,and the range of the pinning gain is given by using algebraic theory,matrix analysis and Lyapunov stability theory under the directed topology.Then,the corresponding pinning control strategy is proposed.The simulation results further verify the correctness of the theoretical conclusion.Based on the above research work,in order to further solve the copule-group consensus of the cooperative-competitive heterogeneous multi-agent systems,whether the event-triggered control conditions are fully distributed is discussed.On the basis of the system's topology with connected branches,a class of fully distributed event-triggering conditions is designed,and the criteria which can guarantee the heterogeneous system can reach the copule-group consensus are obtained via using algebraic graph theory and Lyapunov stability theory.Meanwhile,the pinning control methods are put forward,in which the nodes which are zero in-degree must be pinned.By introducing to the timedependent function,it is proved theoretically that Zeno behavior does not exist in the system.The simulation results verify the validity of the theoretical analysis and the correctness of the pinning control strategy.Based on the above research work,in combination with fully distributed eventtriggered and pinning control,the group consensus problem of heterogeneous multi-agent systems with cooperative-competitive interaction is further discussed.Through using algebraic graph theory and Lyapunov stability theory,the algebraic conditions to ensure the system can realize group consensus are given,and the appropriate pinning control methods are designed.The simulation results show that the convergence speed of the system can be increased by appropriately changing the relationship(cooperative relationship or competitive relationship)and its strength between the agents.