Research On Event-Triggered Fixed-Time Consensus Control Of Multi-Agent Systems

The cooperative control of multi-agent systems has received extensive attention in recent years.As a basic problem of cooperative control,consensus has gradually become one of the research hotspots.Consensus is widely used in various fields,such as industrial fields,ground vehicle formations,exploration robots,etc.The consensus control of the multi-agent systems makes up for the low work efficiency and poor fault tolerance of a single agent,which can improve the work efficiency and have higher fault tolerance.Therefore,this article studies the consensus control problem of multi-agent systems.Its main research work is as follows:Firstly,for the consensus control problem of first-order multi-agent systems with unknown bounded disturbances,a distributed fixed-time controller is designed,which can achieve fixed-time convergence and does not depend on the initial state of the system,thereby improving the convergence rate of the system.Furthermore,static and dynamic event-triggered mechanisms are constructed respectively to reduce the frequency of system event triggering and the energy consumption of system communication.Next,the Lyapunov stability proof is used to verify the stability of the system and exclude the Zeno phenomenon.Finally,the feasibility of the algorithm is verified by simulation.Secondly,the above first-order multi-agent systems is extended to the second-order multi-agent systems,and the consensus control problem of the second-order multi-agent systems with unknown bounded disturbance is studied.The virtual speed is designed based on the idea of backstepping control,so that the real speed can keep up with the trajectory of the virtual speed and achieve speed consensus.A distributed fixed-time controller is designed to make the system states consensus and the convergence rate faster.Next,a static event-triggered mechanism is constructed,and dynamic variables are introduced into the static event-triggered mechanism with a fixed threshold,and a distributed dynamic event-triggered mechanism is designed to reduce the frequency of system event triggering.Finally,for the consensus control problem of the leader-follower second-order multi-agent systems with unknown nonlinearity and unknown bounded disturbance,adaptive fuzzy control is used to reduce the influence of unknown nonlinearity,and disturbance observer is designed to observe the external unknown bounded perturbation.Furthermore,combined with fixed time theory and static event-triggered mechanism,a fixed time consensus controller based on distributed event-triggered is designed,so that the system can track a given signal and all signals converge within a fixed time bounded.The system improves the convergence rate and reduces the energy consumption of information interaction.Finally,the rationality of the proposed algorithm is verified by simulation.