Research On Leader-following Consensus Of Multi-agent Systems With Dynamic Event-triggering Under Directed Topology

The cooperative control of multi-agent system is widely used in various fields such as aircraft coordination,spacecraft formation and distributed control of mobile sensor networks.Among them,the consistency problem has important theoretical and practical research value.On the one hand,considering the limited bandwidth and energy of the real network,on the other hand,the dynamic equation of the leader-follower system is more suitable for the actual control system.Therefore,it is of great value and significance to discuss the leader-follower consistency of the multi-agent system under the directed topology by combining the dynamic event triggering control method.The specific research content is as follows:Firstly,due to the communication line setting,signal attenuation and other reasons,the information exchange between agents is mostly one-way.Meanwhile,in order to avoid the problem of frequent triggering of static event triggering strategy,a dynamic event triggering strategy based on combination measurement error is proposed,and a distributed adaptive dynamic event triggering mechanism is designed to improve the flexibility of the system.Under any initial state and one-way communication conditions,leader-follower multi-agent system can achieve consistency.Lyapunov stability theory provides sufficient conditions for multiagent system to achieve tracking consistency under control protocol.At the same time,theoretical analysis shows that there is no Zeno behavior in the system.Simulation results verify the effectiveness of the theoretical scheme.Secondly,considering the fact that most of the actual systems are nonlinear systems,the existence of external interference and the constraint of asymptotic time convergence,the leaderfollower consistency problem of first-order nonlinear multi-agent systems with unknown bounded disturbances in the directed topology is further discussed.An integral sliding mode control method is used to design a dynamic event triggering function to suppress interference and avoid the continuous update of the controller.A distributed control protocol based on dynamic event triggering is proposed to achieve fixed time convergence.In addition,based on Lyapunov’s method,the stability of the fixed time of the arrival phase and the sliding phase of the system is proved,and the upper bound of the convergence time independent of the initial conditions of the agent is given.The value can be dynamically adjusted according to the demand,and the system does not have Zeno behavior.Finally,the feasibility of the algorithm is verified by numerical simulation.