Research On Fixed-time Consensus Of Multi-agent Systems

In recent years,the research on coordinated control of multi-agent systems has attracted wide attention in many fields,such as computer science,automatic control and mathematic,especially for the study of consensus problem.The consensus problem of multi-agent systems with multiple leaders is also called the containment control problem,which is widely used in both military and civil field.The problem of fixed-time containment control for multi-agent systems is studied in this thesis.Firstly,the fixed-time containment control of nonlinear multi-agent systems under directed network topology is studied.Then,the fixed-time containment control for multi-agent systems with external disturbances is intensely studied.Finally,the fixed-time containment control of multi-agent systems is studied based on event-triggered.The detailed work of this thesis can be summarized as follows:1.The fixed-time containment control for nonlinear multi-agent systems is studied under directed network topology.In practical application,the network topology is more likely to be directed.The consensus analysis for directed topology is more difficult than the case for undirected topology.Based on the previous work on the fixed-time containment control problem with a single leader,this thesis designs a distributed tracking control protocol to track the leader agents.By employing the algebraic graph theory,the matrix theory and the fixed-time stability theory,the fixed time containment control of nonlinear multi-agent systems is realized.2.Fixed-time containment control for nonlinear multi-agent systems with external disturbances is investigated.In practical situation,the multi-agent systems is subject to external disturbances.Therefore,the designed control protocol must be robust to external disturbances.Fixed-time containment control of multi-agent systems with external disturbances is realized by the control protocol designed in this thesis.Finally,based on algebraic graph theory,matrix theory and fixed-time stability theory,the correctness of the theoretical result is proved.3.The fixed-time event-triggered containment control of multi-agent systems is studied.In the research of consensus problem,the follower can update the control input by introducing event triggered function when the triggered condition is satisfied,which can effectively save the communication and computing resources.At the same time,by employing algebraic graph theory,matrix theory and fixed-time stability theory,it is proved that the designed protocol can realize the tracking control problem in fixed-time and the Zeno behavior is excluded.