Event-Triggered Control For A Class Of Nonlinear Networked Multi-agent Systems

In recent years,networked multi-agent systems as a branch of networked dynamic system has been widely used in the control field because of its advantages of strong robustness,good fault tolerance and low operating cost.On the one hand,nonlinear multi-agent systems model can describe the real system more accurately in practice,but the existence of nonlinear characteristics makes the research on consensus of multi-agent systems more complicated.Lipschitz condition is used to constrain the nonlinear terms and T-S fuzzy method to linearize the nonlinear terms are commonly used to deal with nonlinear in systems.On the other hand,when multi-agent systems interact information through networks,due to the limited network bandwidth resources,redundant data transmission will produce a variety of network induced constraints.Selecting an appropriate event-triggered control strategy can reduce the number of controller’s updates,so as to significantly save network resources.Based on the above analysis,the consensus research of nonlinear networked multi-agent system under event-triggered mechanism has important academic value and practical significance.Based on event-triggered control strategy,this paper studies the consensus problem of a class of nonlinear networked multi-agent systems using two nonlinear processing methods.Based on the existing theoretical background and literature achievements,the main research work of this paper can be summarized as following two aspects:(1)For a class of nonlinear networked multi-agent systems satisfying Lipschitz condition,the system consensus problem is studied.Firstly,the leader-following agent system is established,and the influence of network-induced time delay on system performance is considered in the system model.Then,a new event-triggered mechanism is adopted,combining with Lyapunov stability theory and other related definitions and lemmas,a sufficient condition for the asymptotically consensus of multi-agent systems is obtained.Finally,a simulation example is given to verify the rationality of the conclusion.(2)Event-triggered control of nonlinear networked multi-agent systems under switching topology is studied by using T-S fuzzy control method.Firstly,according to the T-S fuzzy method,the multi-agent system is established and the fuzzy controller is designed.Markovian process is adopted to describe the time-varying communication topology.In the case of time delay,a dynamic event-triggered mechanism which can change with system state is introduced.In addition,this paper deals with the problem that the premise variables may not match between the system plant and the controller based on the asynchronous operation method.Finally,a sufficient condition for achieving asymptotical consensus behavior of multi-agent systems is obtained by combining Lyapunov stability theory and other related definitions and lemmas.