Consensus Of General Linear Multi-agent Systems Based On Adaptive Event-triggered Contro

Multi-agent system is a system which is composed of multiple agents with dynamic evolution characteristics through interactive communication and local information exchange.Agents cooperate with each other to complete many complex control tasks according to certain protocols.Therefore,multi-agent system has stronger flexibility and anti-interference ability,which makes its theoretical research results have wide application value in the fields of robot,military,transportation and so on.The consensus problem is one of the essential problems in the research of multi-agent systems.This paper mainly investigates consensus and bipartite consensus based on adaptive event-triggered control for general linear multi-agent systems.Firstly,the research background of multi-agent systems,the research status of consensus problem and bipartite consensus problem at home and abroad are introduced in detail,and the basic knowledge and related lemmas such as algebraic graph theory and matrix theory are given.Secondly,the consensus problem of general linear multi-agent systems is investigated by using distributed event-triggered control method.By introducing adaptive coupling weight,the dependence on the global information of system’s topology is effectively avoided.Furthermore,by introducing an auxiliary parameter for each agent to dynamically adjust the event triggering threshold,the adaptive consensus problem of general linear multi-agent systems under the dynamic event triggering control mechanism is investigated.The results show that the introduction of dynamic parameters can further reduce the communication cost and unnecessary event-triggering,and play a vital role in excluding Zeno behavior.In the realistic network,in addition to cooperative relationships,usually there are competitive relationships among agents.Finally,the bipartite consensus problem of general linear multi-agent systems is investigated by designing an adaptive event-triggered bipartite consensus protocol under a structurally balanced and connected communication topology.