Consensus Of Switched Multi-agents System With Cooperative And Competitive Relationship

In recent years,with the extensive research of artificial intelligence technology and the discovery of new research hotspots,As a key problem in the research of multi-agent systems,consistency has been widely paid attention to,and abundant achievements have been made in the research of consistency.In various networks,network topology switching occurs from time to time,so it is of great practical significance to discuss the effect of switching behavior on network dynamics.In general,switching systems can be regarded as hybrid systems that retain their continuous dynamic parts and replace their discrete dynamic parts with switching laws.Compared with hybrid system,the structure of switching system is relatively simple and beneficial to theoretical analysis and practical application.As a kind of simplified model of hybrid system,its research results and methods can be easily applied to the research of hybrid system.With the rapid development of the research on multi-agent consistency,scholars find that every agent in the actual system is not completely cooperative,and a few of the agents will deviate from the established goal and show the competitive relationship with other agents.But in some cases,such a system can also reach an agreed state.From the practical point of view,the consistency of such cooperative and competitive systems is more common,and the proportion of its research in the control of multi-agent systems is increasing year by year.In chapter 3,the consistency of a class of multi-dimensional linear multi-agent systems is analyzed.In the model of Chapter 3,switching and cooperation and competition between agents are considered simultaneously.In the case that each subsystem cannot achieve consistency and each switching system has a minimum resident time,several sufficient conditions for switching network to achieve consistency are obtained by using the time-dependent poly-lyapunov function and the average resident time method.The verification of this condition can be achieved using the software package SOSTOOLS in Matlab.Finally,a numerical simulation example is given to illustrate the validity of the results.The fourth chapter of this paper considers the event triggering mechanism on the basis of the third chapter,using preset trigger conditions to determine whether data is transmitted,which can effectively reduce unnecessary sampling and save communication resources.In the fourth chapter,we mainly study the static event triggering consistency of multi-agent system under the switching topology.The event triggering mechanism is used to save network resources effectively,and the influence of switching topology on the consistency of multi-agent system is considered.Finally,based on Lyapunov stability theory and algebraic graph theory,It is proved that the proposed event triggering control strategy can effectively achieve the consistency of multi-agent systems.