Research On The Consistency Control Of A Class Of Heterogeneous Multi-agent System

This paper studies the consensus control problem of heterogeneous nonlinear multiagent systems.In practical applications,heterogeneous multi-agent systems can better accomplish huge tasks in complex environments.The consensus problem is the basic problem of multi-agent cooperative control,and the time to reach consensus is an important performance index.From the perspective of convergence speed,this paper deals with the probabilistic finite-time consensus control problem of heterogeneous stochastic nonlinear multi-agent systems,the probability-based fixed-time consensus control problem,and fixed-time consensus control problem of the deterministic heterogeneous nonlinear multi-agent system.With the help of the adding a power integer technique,graph theory and Lyapunov theory,effective consensus control protocols are given.First,the research background and significance of this paper are introduced,combined with the research content,the research status of heterogeneous multi-agent systems,nonlinear multi-agent systems,and high-order multi-agent systems are reviewed,including the current research status of finite-time consensus control problem and fixed-time consensus control problem.At the same time,the structure arrangement of this paper is given.Second,for a class of mixed-order stochastic nonlinear multi-agent systems,the definition of fixed-time consensus in probability of mixed-order stochastic multi-agent systems is proposed.Using the adding a power integrator technique,a new consensus control protocol is designed,the estimation of the time to reach consensus is given,and the main results are rigorously proved based on the theory of finite-time stability in probability.Furthermore,a numerical simulation example illustrates the effectiveness of the proposed consensus protocol.Third,for multi-agent systems composed of different orders of nonlinear agents,the problem of fixed-time consensus control under the undirected communication topology graph is studied.By combining the adding a power integrator technique and constructing appropriate functions and virtual control laws,a control protocol to make the same order states of the agents reach agreement within a finite time is designed.And the expression for the estimation of the time is given.A simulation example illustrates the effectiveness of the proposed protocol.Then,considering multi-agent systems with stochastic disturbance,it is difficult to obtain accurate system initial value.The expression of the estimation of the time reaching consensus by finite-time consensus protocol is related to the system initial value.In order to eliminate the dependence of the estimated value on the initial value of the system,for the mixed-order stochastic nonlinear multi-agent system,the problem of the fixed-time consensus control in probability is further studied.The simulation results show the correctness of the proposed protocol.Finally,the research work of the paper is summarized and the future research direction is prospected.