On Pinning Group Consensus For Cooperative-competitive Heterogeneous Multi-agent Systems With Markov Switching Topology

Consensus problem as a hot issue in coordinated control of complex systems has applied to different areas,such as system control,military affairs,energy ecology and so forth.As an extended consensus problem,group consensus for multi-agent system has gradually developed into a research hotpots which is across many disciplines.At present,the researches on group consensus of multi-agent system are mostly based on the homogeneous system with single cooperative or competitive relationship between the agents.Obviously,it can't completely meet the requirements of various coupling relationships,differences in dynamic behavior and changes in topological structure among agents in complex system caused by external environment interference,interaction conditions restriction and the control cost in real complex engineering.For this type of need.The group consensus problem of cooperative-competitive heterogeneous multi-agent system based on Markov switching topology via pinning control and adaptive coupling weight control methods are discussed in the thesis.The details are as follows:A class of heterogeneous multi-agent system composed of first-order and second-order agents is discussed in this thesis.Under the influence of continuous time Markov switching topology,the cooperative-competitive relationship among agents is considered.Meanwhile,the system topology can contain connected branches or isolated nodes,and release the strict constraints of system topology.By using the continuous time Markov switching and Lyapunov stability theory,the sufficient conditions for the system to achieve pinning couple group consensus are analyzed.The results reveal that the control parameters,in-degree of the agents and pinning gains of the second-order agents are closely related to the achievement of multi-group consensus.Finally,simulation experiments are given to verify the correctness of the theoretical results.On the basis of the above work,the adaptive coupling weight strategy is introduced to solve the problem of coupling weight selection effectively.Through theoretical analysis,the conditions are obtained to ensure the heterogeneous system to reach pinning multi-group consensus.The results show that the agents with zero in-degree need to pinned,and the pinning gain of the second-order agents should be meet the given range.The correctness of the results are verified by simulation experiments.Moreover,the simulated results show that the adaptive coupling weight method can increase the convergence rate of the system.Finally,summarize the work of this thesis,and the follow-up work is planned and prospected.