Research On Bipartite Consensus Problem Of Multi-agent Systems Based On Event-triggered And Fixed-time

In recent years,the research results of coordinated control for multi-agent systems have been widely applied in industry,transportation and other fields,as one of the important research branches,the problem of consensus control has attracted extensive attention of researchers.The traditional consensus control for multi-agent systems only studies the cooperative relationship between agents.From the biological world,in addition to cooperative mode,there is also the competition-cooperation mode.For example,the control of fleet and UAV cruise adopts the competition-cooperation mode.The bipartite consensus of multi-agent systems was considered the competitioncooperation relationship among agents.In order to better application of multi-agent systems,this paper mainly studies the bipartite consensus of multi-agent systems.This paper mainly studies the controller design of bipartite consensus control for multi-agent systems and the stability analysis of design control protocol,industrial application factors such as convergence time,global information unknowable and communication constraint are considered,accordingly put forward the control protocol in order to achieve the multi-agent systems bipartite consensus control.The main contents include:Firstly,considering the communication constraint of multi-agent systems,an eventtrigger control design protocol is proposed to solve the bipartite problem of multi-agent systems,which effectively saves the communication resources of the system,and the designed algorithm has anti-disturbance ability.In order to ensure the convergence time of the protocol,the fixed-time control is adopted to ensure that the systems can reach agreement in a settling time under given conditions.Secondly,considering the system state information unpredictability in the practical application,the bipartite consensus problem of the multi-agent systems based on the observer is studied.Two different control methods are designed respectively.One is the finite-time control method,which can be applied in the industrial application when the initial value of the system can be directly obtained.The other is the fixed-time control method,through the design of system parameters,the system parameters can be adjusted to achieve the fixed-time bipartite consensus in the settling time without knowing the initial value of the system.Finally,a control protocol based on adaptive event-triggered mechanism is proposed to solve the bipartite problem of multi-agent systems.Both event-triggered mechanisms can effectively reduce the communication of multi-agent systems in the same time.According to Lyapunov stability theory,algebraic graph theory and other tools,the designed control algorithm is analyzed theoretically,and the sufficient condition of system stability is obtained.