Cluster Consensus Of Nonlinear Multi-Agent Based On Event-Triggered Mechanism

In recent years,due to the wide application in formation flight,robot cooperative control,network resource allocation and other fields,multi-agent system has become a hot topic of research by many scholars.As the most basic and important problem of multi-agent system,consistencey problem has very important research significance.The research trend of multi-agent consistency mainly includes the following aspects.Compared with traditional time control,event-triggered control has obvious advantages of reducing resource consumption,and has been gradually applied by many scholars in the research of multi-agent.As the system becomes more and more complex and large,the clear division of labor among agents becomes increasingly prominent.Compared with the previous complete consistency,clustering consistency is becoming a hot spot because of its more practical research value.In addition,compared with the linear system which has been widely studied in the past,the nonlinear system has more research significance because it is more practical.On the basis of previous studies,this paper studies the clustering consistency of two classes of first-order nonlinear systems and one class of second-order nonlinear systems,which is mainly reflected in the following aspects:(1)For a class of homogeneous nonlinear multi-agent systems,the event triggering mechanism is introduced,and the distributed event triggering controller with competition-cooperation relationship is designed.The conditions for the system to achieve cluster consistency are obtained by graph theory,matrix theory and Lyapunov stability theorem.The possibility of Zeno’s behavior under the event triggering mechanism is eliminated by the proof.Finally,the correctness of the above theory is verified by Matlab simulation.(2)In order to be closer to the actual situation,another kind of heterogeneous nonlinear multi-agent system is considered in this paper.As the same time,we design a new event triggering protocol,which is different from the homogeneous multi-agent system.Under this event triggering mechanism,agents no longer need to continuously communicate with neighbor nodes,but only need to do so when the event is triggered,which greatly reduces the communication pressure between agents.A new distributed event trigger controller is designed,and the conditions for the system to achieve cluster consistency are obtained by graph theory,matrix analysis and Lyapunov stability theorem.Second,the possibility of Zeno’s behavior in the event triggering process is eliminated through the proof.Finally,the correctness of the above theory is verified by Matlab simulation.(3)This paper further considers a class of second-order nonlinear multi-agent systems,introduces a new event triggering protocol,and designs the corresponding distributed event triggering controller.By using graph theory,matrix analysis and Lyapunov stability theorem,the conditions of clustering consistency are obtained.Finally,the correctness of the above theory is verified by Matlab simulation.