Research On Adaptive Containment Control For Nonlinear Multi-Agent Systems Based On Event-Triggered Mechanism

The deep integration of industrialization and informatization has led to increasingly complex problems in practical scenarios,highlighting the limitations of traditional singlenode control methods.Multi-agent systems,which are composed of multiple agents interacting in the same environment,can effectively solve some practical problems that single-layer systems cannot solve.Therefore,the research on multi-agent systems has attracted the attention of numerous researchers both domestically and internationally.The containment control,as an important branch of distributed control research for multiagent systems,has broad application prospects in fields such as traffic control,industrial manufacturing,regional logistics and other fields.However,with the development of network technology,the scale of multi-agent systems continues to expand.Thus,it is crucial to design the containment controller for multi-agent systems under the premise of meeting comprehensive factors such as cost,efficiency,and performance in practical limited computing and network bandwidth resources.Unlike the classical time-triggered mechanisms,the event-triggered mechanism can effectively improve the utilization efficiency of constrained resources and meet the control performance requirements of the system.Therefore,based on the event-triggered mechanism,this paper will study the adaptive containment control problems for two types of nonlinear multi-agent systems.The main research contents are described as follows:1.This paper studies the event-triggered containment control problem for nonlinear multi-agent systems with partially unknown state parameters.Firstly,a neural network state observer is designed based on the generalization approximation ability of radial basis function neural networks to overcome the impact of partially unknown state parameters on system controller design.Then,an event-triggered control mechanism is introduced based on the switching threshold method to effectively reduce control resource consumption and balance system performance and network resource constraints.Furthermore,a distributed event-triggered containment control protocol for nonlinear multi-agent systems is established by integrating adaptive backstepping method and dynamic surface control technique.The protocol ensures that the containment errors of the multi-agent system rapidly and accurately converge to a predefined region,and effectively reduces the trigger frequency of the controller.2.Taking into account the practical scenario where multi-agent systems often operate in a random vibrational environment,this paper further investigates the effects of stochastic factors and nonlinear dynamic heterogeneity on the design process of containment controllers for multi-agent systems.Following the theoretical framework of the containment control research mentioned above,the It?lemma is introduced to handle the random terms existing in the system,and the distributed event-triggered containment control protocol for nonlinear stochastic heterogeneous multi-agent system is designed by constructing the quartic Lyapunov functions.Under this protocol,the triggering number of the controller is significantly reduced compared to the fixed threshold strategy,and the system can achieve containment objective.