Consensus Of Multi-Agent Systems With Random Communication Failure And External Disturbances

The application of multi-agent systems in real life is becoming more and more widespread because of the development and progress of science and technology.Cooperative control of multi-agent systems has become a research hotspot in many fields including mathematics,artificial intelligence and robotics.The most fundamental and meaningful problem in the research of collaborative control of multi-agent systems is consensus problem.The basic idea of solving the consensus problem is to design a control protocol to make the controlled physical quantities in the system converge gradually during the process of information exchange among the agents.At present,a lot of work on the consensus problem is carried out under the assumption that the communication link between agents is in an ideal state,which means that there is no data transmission failure and communication noise,but in practice multi-agent systems are often in various intricate working environments,and may be affected by various uncertain factors.There may be communication delays in the information exchange between agents,and may also be state distortion by communication noise,and the data transmission may also fail due to the failure of the communication link.In order to solve the above-mentioned problems that may exist in the process of agents information exchange,this paper studies the consensus problem of multi-agent systems under random communication failures and external disturbances.The main contents are summarized as follows:1.Study the problem of non-leader and leader-following mean square consensus when there is random communication link failure in heterogeneous multi-agent systems.First,a control protocol is designed to compensate for random link failures of the system using the previous step of data sent by neighbor agent in the event of a failure.Then,based on the Lyapunov method and linear matrix inequality(LMI),the conditions for the multi-agent systems to achieve mean square stability are proposed and proved.Finally,the effectiveness of the proposed control strategy is verified by Matlab numerical simulation.2.Study the ?_?consensus problem of discrete multi-agent systems with external disturbances and time-varying communication delays.First,a consensus control protocol considering communication delay is proposed,and then by constructing a suitable Lyapunov-Krasovskii functional,using the delay segmentation technique,the communication delay interval is further subdivided into two sub-intervals.Then combine the inverted convex method and linear matrix inequality to give and prove the ?_? consensus conditions.Finally,a numerical simulation example is used to demonstrate the effectiveness of the proposed method.