Research On Consensus Of Multi-agent Systems Based On Event-triggered Control

In recent years,with the rapid development of computers and modern control technology,many researchers have set their sights on the field of coordinated control of multi-agent systems.Countless research results have been applied to many fields such as UAV formations,Beidou satellite navigation systems,robot formations,wireless sensor networks and intelligent transportation.The core of a multi-agent system is consisus.It's essence is to design an effective consensus control protocol through local communication between agents,so that under the effect of the consistency control protocol,the state of all agents in the system gradually reaches a common value over time.In actual applications,the agents communicate and complete the collection and calculation of information through an embedded microprocessor.However,due to the limitation of power energy,and the traditional consensus control protocol often requires continuous time communication.In order to reduce the communication and energy consumption between the agents and increase the running time of the system.We introduce event-triggered control into the study of the consensus of the multi-agent system.The control update is only performed at the moment when the event is triggered,which greatly reduces energy consumption.Based on the existing research results,this paper uses algebraic graph theory,Lyapunov stability theory and other related theories to study the consistency of multi-agent systems under event-triggered control.The main contents are summarized as follows:1.For the first-order multi-agent system,considering that the topological structure is an undirected connected graph,the average consensus problem under the control of periodic event-triggered is studied.By introducing periodic event-triggered control and its consensus control protocol,Zeno phenomenon is avoided.On this basis,a new event triggered condition is designed to obtain the condition for the first-order multi-agent system to reach the average consensus.Numerical simulation results verify the effectiveness of the proposed control protocol and event-triggered conditions.It is verified that the application of the proposed event-triggered conditions in this paper can significantly reduce the update times of the control input and the system resources consumption compare with the existing eventtriggered conditions.2.For the second-order nonlinear multi-agent system,considering that the topological structure graph is a directed graph,the leader-following consensus problem under the control of event-triggered is studied.Assuming that the communication topology diagram of the system has a directed spanning tree with the leader agent as the root node,a distributed event-triggered consensus control protocol is designed.Then,using the method of model conversion,combined with Lyapunov stability theory,matrix theory and other related knowledge,the sufficient conditions for the stability of the system are obtained.Through related theoretical analysis,the leader-following consensus of the multi-agent system can be achieved under this control protocol,and Zeno phenomenon will not occur.Finally,the numerical simulation results verify the effectiveness of the control protocol and eventtriggered conditions.