Design And Analysis Of Consensus Protocols For Stochastic Multi-agent Systems Based On Sampled Data

In recent years,multi-agent systems have been widely used in both military and civilian fields.Consensus problem is one of the basic problems of multi-agent system theory,and it is also the key link of formation control,multi-sensor information fusion and leaderfollowing problems.Leader-following problem has been widely applied in the fields of multi-robot formation,traffic management,power system control and logistics.Multi-agent system is a physical system in continuous time.However,due to communication conditions and total cost constraints,in practical applications information cannot be transferred almost continuously.On the other hand digital sensors and controllers are widely used and only discrete sampled instantaneous data are available at the time of use.Research on consensus control of multi-agent systems based on sampled data is just beginning.This paper will discuss the consensus problem of multi-agent systems affected by communication noise and design a continuous-time consensus control protocol based on sampled data.The leader-following consensus problem will also be studied in this paper,and a leader-following control protocol based on sampled data will be presented.The main work of this paper is as follows:1.The consensus problem of first-order multi-agent systems subject to noise is investigated.A detailed analysis of how the Pontryagin maximum principle,a tool,can be applied to the study of multi-agent systems is presented.A control protocol based on sampled data is designed to achieve consensus of the multi-agent system in the presence of noise.Simulation experiments are carried out with different communication topologies,different sampling periods and different noise intensities to verify the effectiveness of the designed protocol.2.The leader-following problem for multi-agent systems containing leaders is investigated.In this section,the design of a control protocol based only on the measurement information at the sampling moment is considered,and the leader-following control protocol is given under the assumptions of exact and noise-influenced communication conditions,respectively.Finally,we carry out simulation experiments under different communication topologies,different sampling periods and different noise intensities to verify the effectiveness of the designed protocols.In this paper,a consensus control protocol based on sampled data is designed for a noise-affected first-order multi-agent system,which can ensure that the system can achieve consensus even under the influence of noise.Such a design does not need to assume that the communication system must be accurate and continuous,which is more in line with the situation of practical application.In addition,this paper preliminarily applies the protocol to the leader-following problem.It provides the thought and research basis for the cooperative control of multi-agent systems in the actual communication environment.