| In recent years,due to the rapid development of artificial intelligence and Internet technology,a single agent has been unable to solve the real problems of large-scale,complex and uncertain information.Therefore,multi-agent distributed cooperative control has become a hot topic in the control field.Due to the influence of complex communication factors such as communication time delay and quantization noise,the difficulty of cooperative control design of multi-agent systems is extremely increased.Therefore,distributed cooperative control of multi-agent systems in complex communication environments has attracted extensive attention.This paper studies the robust consensus of continuous and discrete multi-agent systems with multiplicative uncertainties and the consensus of second-order strictly regularized multi-agent systems with uncertain communication delays.First,a distributed robust consensus protocol is designed based on first-order recursive channel filters for continuous and discrete multi-agent systems with multiplicative uncertainty.Based on the edge-connection sensitivity method,the parameter conditions of the recursive filter are obtained,and the optimal parameter conditions for the system to achieve the maximum consensus are obtained.Secondly,a second-order consensus protocol based on output feedback is proposed for second-order multi-agent systems with single-input and single-output strict canonical transfer functions for individual agents.Without considering the time delay of communication,the parameter conditions that can make the multi-agent system reach the consensus are obtained.Based on the method of frequency domain analysis,the upper bound of the maximum allowable time delay of the closed-loop multi-agent system under the action of the protocol is obtained.For the aforementioned problems,a numerical example is used to simulate,and the simulation results are given. |
