Research On Consensus Of Uncertain Multi-Agent Systems Based On Sliding Mode Theory

As time progresses and advances,the production system is increasingly becoming more intelligent and integrated.Traditional control schemes are finding it difficult to meet the ever-increasing demands for control in this era.In this context,Multi-Agent Systems become a hot topic for scholars.Agent is entity that possess the ability to perceive and analyze surrounding information and control.Intelligent agents of multi-agent systems can communicate with each other through certain means and obtain information from other agents.However,the communication between the agents is open,it is highly susceptible to network attacks,which cause communication interruptions.Additionally,in actual production processes,the target system is influenced by various external disturbances,which are usually unknown.Overcoming these disturbances and enabling Multi-Agent Systems to have high robustness is one of our main research directions.Based on the above analysis,Multi-Agent Systems with a certain degree of uncertainty is discussed and the consensus control problems with certain restrictions is analyzed.The main contribution is as follows:(1)The consensus problem of leader-follower for second-order Multi-Agent Systems with uncertainty and directed topology is studied.An event-triggered mechanism is introduced to reduce the communication frequency between agents.Using sliding mode control,external disturbances can be released.An adaptive method is used to estimate the target’s unknown object.A sliding mode controller based on an event-trigger mechanism is proposed.Finally,a numerical example is given to prove the effectiveness of the method.(2)A class of heterogeneous second-order Multi-Agent Systems consensus problems is studied.The sliding mode control method is used to achieve robustness.A special type of radial basis function neural network is used to estimate the uncertainty.An event-triggered mechanism is introduced to reduce the update frequency of the controller and the communication frequency between agents.Zeno behavior is avoided by ensuring the lower bound between two adjacent triggering instances.Finally,simulation results show that the time evolution of the consensus error ultimately approaches zero.Consensus of the Multi-Agent System is achieved.(3)The consensus problem of Multi-Agent Systems with uncertainty and denial-of-service attacks is studied.An interval observer control method is used to reduce the influence of unknown external disturbances.By introducing a sliding mode term,the observation error of the system is reduced,improving its robustness.Based on coordination theory,a control algorithm based on consensus control is proposed.By constructing an event-triggered mechanism,the frequency of communication between agents is reduced.Finally,the effectiveness of the proposed algorithm is verified by numerical simulations.