Research On Containment Control Of Multi-Agent Systems Based On Dynamic Event-Triggered

In recent years,with the continuous development of science and technology,the cooperative control theory of multi-agent system develops rapidly and is widely used in the fields of UAV cooperative combat,smart power grid and wheeled robot system.As an important part of multi-agent system cooperative control,containment control has a wide application prospect in military,logistics transportation and surface exploration.Because the actual system is often run in complex and changeable external environment,it will be affected by input delay,disturbance and other non-ideal conditions.In addition,with more emphasis on resource saving today,it is of great practical significance to achieve the goal of containing control with limited communication bandwidth,lower energy consumption and higher resource utilization rate.Based on the above background,this paper studies the multi-agent systems containment control problem incorporating dynamic event-triggering mechanism in non-ideal environment.The details of the study are as follows:Firstly,the linear multi-agent system containment control problem with input delay and unknown bounded interference is studied based on a directed communication topology.The barrier of time delay to controller design is overcome by using the reduced-order model method,and a fixed-time distributed event-triggered control strategy that can avoid continuous communication is designed.Then the static event-triggering strategy and dynamic event-triggering strategy are designed respectively,and theoretically analyzed that the system can further reduce the controller update frequency and save communication resources under the action of dynamic event-triggering strategy.Based on the fixed-time Lyapunov stability theory,the containment control theory,algebraic graph theory and matrix theory,it is proved that the follower can move into the convex hull composed by the leader within a fixed time.The upper bound of global stable time independent of the initial state of the system is derived,and the Zeno behavior is not found in the system.Secondly,the system is further considered to be affected by unknown nonlinearity and actuator fault,and the distributed event-triggered fault-tolerant containment control problem of nonlinear multi-agent systems is studied.An adaptive neural network event-triggered fault-tolerant control strategy based on fault diagnosis is designed,so that the nonlinearity in the system can be effectively compensated by radial basis function neural network approximation,and the control parameters can be adjusted according to the fault diagnosis information when the actuator fails,so as to mitigate the impact brought by the failure.In addition,the designed event-triggered mechanism can effectively reduce the sampling times and save communication resources,and there is no Zeno behavior in the system.Then it is proved that the system can achieve uniform limit bounded containment control based on the neural network based adaptive control technique and event-triggering control strategy.Finally,the simulation example verifies the effectiveness of the proposed strategy and its superiority in improving the efficiency of communication resources and convergence speed.