| With the gradual maturation of control theory,communication technology and artificial intelligence technology and the continuous development of hardware equipment such as sensors and actuators,multi-agent systems have gradually become a hot research topic in the field of control.As an important research branch of cooperative control of multi-agent systems,formation control has put many research results into practical applications in joint search and rescue,cooperative reconnaissance and detection and attack.However,existing researches often neglect the consumption of limited resources caused by frequent communication between agents.In addition,most of the researches on multi-agent systems focus on the continuous time case,but in the practical application,it is generally the discrete-time due to the hardware such as sampler.Based on this,this thesis adopts dynamic eventtriggered mechanism to study formation control of discrete multi-agent systems.The main research includes the following three aspects:(1)The formation control problem of discrete linear multi-agent systems under dynamic event triggering is studied.For general linear multi-agent systems,a dynamic event triggering mechanism is designed based on the existing triggering mechanism by introducing auxiliary dynamic variables,and is extended to the discrete-time case.A distributed formation control protocol is proposed based on the dynamic eventtriggered mechanism,which ensures that the system accomplishes the desired formation task while reducing the frequency of event triggering.Using Lyapunov stability theory,it is demonstrated that the system is asymptotically stable and can achieve the desired formation under the proposed method.(2)The formation-containment control problem of discrete multi-agent systems under dynamic event triggering is investigated.First,in order to save the limited energy and bandwidth resources of the system,a dynamic event-triggered mechanism is designed to reduce the number of inter-system agent communications.The agents only update the control protocol and interact with information at the trigger moment,and the designed trigger conditions filter the redundant data information of the system.Then,a formation-containment control protocol is designed based on the dynamic event-triggered mechanism,so that the leader forms the desired formation and the followers enter the convex hull formed by the leaders.After stability analysis,it is demonstrated that the system can achieve the desired formation-containment formation under this protocol.(3)The problem of time-varying formation control of discrete multi-agent systems under dynamic event triggering is investigated.First,an event-triggered mechanism is designed based on the dynamic threshold parameter method to enable the system to have longer internal event time for the limited bandwidth resources of multi-agent systems.Then,a time-varying formation control protocol based on the dynamic eventtriggered mechanism is proposed,which enables the discrete multi-agent system to significantly reduce the communication frequency between agents in the process of time-varying formation.Finally,a sufficient condition for system stability is obtained using the Lyapunov direct method,and it is shown that time-varying formation control can be achieved under the proposed method. |
