Research On Multi-agent Cooperative Control Method Based On Event-driven Communication Scheme

In recent years,in numerous scientific and engineering fields,such as artificial intelligence,robotics,industrial and military applications,experts have done a lot of investigate on the cooperation and control of multi-agent systems.An essential investigate subject of cooperative control is consensus,which needs to design a distributed protocol to drive a group of agents to reach consensus on state.In the process of realizing cooperative control,multi-agent systems need to communicate to exchange each other’s information.Early studies usually assume that agents can communicate continuously and exchange information.However,in reality,the communication resources and energy of each agent are usually limited,so it is necessary to introduce an effective communication mechanism to reduce the consumption of communication resources while ensuring the realization of cooperative control tasks.Therefore,based on the design of the fixed-time cooperative control algorithm,this thesis adds the eventdriven communication scheme,which can reduce the consumption of communication resources effectively.The main contents of this thesis are as follows:Firstly,the fixed-time distributed optimization problem of first-order multi-agent system is studied,and a new distributed protocol is proposed,which can make the system achieve consensus in a fixed time and minimize the sum of local convex functions known by the agent,so as to complete the distributed optimization.In the process of multi-agent communication,a new event-driven scheme is added,which can effectively reduce the number of agent communication.Then,the stability condition of fixed-time distributed optimization for multi-agent system is analyzed and proved under the condition of event-driven communication scheme.Secondly,the communication scheme based on event-driven is extended to the second-order multi-agent system,which has more advantages in practical control applications.Under the new distributed cooperative control protocol,it is also analyzed and proved,and the conditions for the multi-agent system to achieve stability are derived,so that it can still complete the event-driven fixed-time cooperative control without depending on the initial state of the agent.Finally,the proposed cooperative control algorithm based on event-driven communication scheme is applied in practice.In this thesis,the differential mobile robot is used as the control object,and the corresponding electromagnetic signal source localization experiment is designed to verify the effectiveness of the control algorithm.At the same time,the control method proposed in this thesis is compared with other methods,and the evaluation and comparison are made from the event-driven rate and localization error and other aspects.Therefore,the proposed cooperative control method based on event-driven communication can achieve better results in the problem of electromagnetic signal source localization.