Research On Containment Control Of Multi-agent Systems Based On Event-triggered Mechanism

In recent years,with the accelerated advancement of wireless communication technology and distributed control,the synergetic control of Multi-agent system(MAS)has increasingly become one of the main research directions in the field of control,and has been widely used in aviation,industry,transportation,soldiery and other fields.As a research direction of multileader-follower in MAS collaborative control,containment control has important practical significance and research value in practical applications.This thesis primarily studies the containment control problem of MAS based on event triggering.Considering the disconnection of communication topology and even the delay of switching and communication between agents due to the interference of the environment,a control strategy of time delay and finite time event triggering is adopted to ensure the containment control of the system and eliminate the Zeno phenomenon.The main research contents are as follows:(1)The problem of heterogeneous MAS leader-follow containment control considering time delay is being studied.According to the intima principle,the leader is regarded as an external system.Combined with the containment control error of MAS,the containment control problem is converted into the output regulation problem(ORP).When the agent cannot get the external system signal,the designed follower state observer can ensure that the follower can converge quickly to the circle formed by the leaders.(2)The event-triggered containment control(ETCC)in joint-connected topology switching was studied.Due to interference in actual communication,the network topology is prone to switching and disconnecting.To achieve the bounding control,minimize communication consumption,and save energy,an event-triggered control protocol with a state observer is proposed under the switching of joint-connected topology.This protocol excluding Zeno behavior,and it is proved that if the communication topology is jointly connected in a certain time,then the follower state can asymptotically converge to the circle formed by multiple leader states.(3)The finite time containment control problem in the multi-agent switching topology based on event triggering has been studied.To further improve the stability efficiency of the system,an event-triggered switching topology finite time output adjustment control strategy was proposed.Firstly,the control protocol of the finitely time state observer in the switching topology is designed.Through theoretical analysis,it is proved that the finite time observer can significantly improve the convergence rate of MAS,and the switching topology has fewer constraints on the system topology.Secondly,the ETCC mechanism is designed to reduce the communication times between multiple agents and exclude Zeno’s behavior based on improving the convergence speed of the containment control.Based on the study of the above problems,the problems related to time delay,switching topology in the field of multi-intelligent body surround control are solved.