Research On Consensus Of Networked Multi-agent System Based On Sampled-data Communication

Network control system(NCS)is a complex control system integrating communication network and control system.NCS uses network to connect sensor controllers and actuators in different geographical locations to form a fully distributed real-time feedback closed-loop control.With the development of computer science network communication and sensor technology,and the great application prospect of multi-agent system in electric power system vehicle formation control,the control problem of multi-agent system has attracted more and more researchers' attention.The research of distributed consistency control for multi-agent system has become a hot issue in the control field.However,due to the communication mechanism and protocol,network-induced delay,data packet loss and other problems inevitably occur in the process of data transmission in the networked control system,resulting in the performance decline of the system.How to design and how to design the controller is of great significance to realize the consistency of networked multi-agent system.The purpose of this thesis is to deal with the problem of consensus control for networked multi-agent systems with nonlinear dynamics model,time delay,uncertainty and other complex characteristics under the action of distributed sampling controller.In view of the above problems,this paper adopts the method of non-periodic sampling to design the relevant controller,and obtains the sufficient conditions for the system to achieve consensus.The specific research content is as follows contents are as follows:1.For uncertain systems with nonlinear dynamics,the exponential convergence consistency control problem for uncertain networked multi-agent systems is studied.Firstly,the distributed control input protocol is given by using the input delay method,and then the decoupling linear matrix inequality condition is obtained by using the constructed Lyapunov functional.Based on the obtained sufficient conditions,the design method of gain K of sampling controller is given and the results are extended to uncertain systems.At the same time,the obtained sufficient conditions are transformed into convex optimization problems,and the maximum sampling interval of the system is obtained under the premise of ensuring the consistency of the system and other performance indexes.Finally,the effectiveness of the proposed controller is verified by a simulation example.2.The consensus control of networked multi-agent systems with time-delay is studied for systems with time-delay and nonlinear dynamics.Firstly,a distributed control input protocol is presented by input delay method.Secondly,an augmented Lyapunov functional is constructed,and the lower bound of the integral term in the derivative of the lyapunov functional is estimated by using The Park integral inequality and Wirtinger integral inequality.Combined with the improved free weight matrix integral inequality,the consensus sufficient condition with lower conservatism is given.The design method of gain K of sampling controller is also given.Then,the maximum sampling interval is obtained by iterative method.Finally,the effectiveness of the proposed method is verified by a simulation example.3.On the basis of the above research,the problem of consensus control for leader-follower nonlinear systems with steady delay is further studied.Firstly,a distributed control input protocol is designed for each agent using the sampled data information.Then an augmented error system is constructed and an augmented Lyapunov functional is constructed according to the properties of the Kronecker product of the matrix.The sufficient condition of consistency of leader-follower system and the design method of gain K of sampling controller are given.Furthermore,the obtained sufficient conditions are transformed into optimization problems to obtain the maximum sampling interval that can make the system achieve consistency.Finally,the effectiveness of the proposed method is verified by a simulation example.