Research On Consistency Of Fault Tolerant Constraints In Multi-Agent Systems With Switching Topology

This paper discusses the influence of time-varying communication topology on the performance multi-agent system based on the problem of constrained consensus of multi-agent system.In addition,the influence of unknown external environment on the system can not be ignored,such as external interference,changes in the condition of communication channel and actuator failure caused by collision with terrain,which will affect the performance of the system.Therefore,it is of great theoretical significance and practical application value to study the fault-tolerant constrained consensus of multi-agent systems with switching topology under the influence of external complex environment.In this paper,with the help of Lyapunov stability theory,graph theory,robust control theory and adaptive control theory and other theoretical tools,the main contents are as follows:(1)A class of multi-agent systems with external disturbances,partial failures,state constraints and topology changes subject to semi-Markov processes are considered.Firstly,an observer based on coupled disturbance and partial failure information of actuator is designed to observe the disturbance and fault at the same time.Secondly,a new performance index is constructed to replace the zero initial condition,which reduces the conservatism of the traditional control zero initial condition.Finally,the boundedness of the transfer rate is used to express the timevarying transfer rate as a convex combination,which solves the time-varying transfer rate problem which is difficult to deal with in the semi-Markov model,and finally realizes the anti-disturbance fault-tolerant constrained consensus of the time-delay multi-agent system.(2)The fault-tolerant constrained consensus in multi-agent systems with dynamic nodes is studied.First of all,based on the fact that the communication topology remains unchanged,the whole process is divided into multiple sub-processes.In order to prevent the residence time of the sub-process from being too short,which affects the realization of the constrained consensus of the system and causes the instability of the system,the piecewise linear function is designed by using the residence time information,which is combined with the fault-tolerant constrained consensus information to construct the Lyapunov function.Then,combined with the robust technology,different controller gains are designed according to the number of nodes in the system communication topology.In the case that the nodes are the same but the communication relationship changes,we treat the change of the topology as the uncertainty of the system topology.Finally,the constrained consensus of the system is realized.(3)In practical applications,the network resources for information exchange are often limited.In order to reduce the adverse effects of long delay,packet loss and throughput reduction caused by communication congestion on system stability,performance and reliability,the fault-tolerant controller based on event trigger mechanism is used to realize constrained consensus of fault multi-agent system.At the same time,it achieves the purpose of reducing the competition intensity of network resources and improving the utilization rate of network bandwidth.