Obstacle Avoidance And Optimal Control Of Multi-agent Systems Based On Event-triggered Mechanism

Multi-agent systems(MASs)have the characteristics of coordination,autonomy,and ease of management,and have attracted more and more attention from many scholars.Among them,consensus control is a basic problem of MASs and agents need frequent information interactions during the process of achieving consensus.In addition,the MASs will also be affected by obstacles and topology changes during operation.Therefore,in order to save costs and ensure the stable operation of MASs,the existence of obstacles and topology changes is considered in this paper,furthermore,the event-triggered consensus and optimal control of MASs are also considered in this paper.Next,the main research contents are as follows:Firstly,aiming at the problem of consensus control of second-order MASs,considering the existence of obstacles in the environment,based on the artificial potential field method,a new potential field function is designed by introducing the velocity information of the agents,and a switching controller is designed based on the event-triggered mechanism.Next,the formation stability of system is proved by Lyapunov stability theory.Simulation results show that the event-triggered switching controller can effectively avoid obstacles and achieve consensus.Secondly,considering the variability of the MASs topology in practical applications,combining exponential function and inverse cotangent function under Markov switching topology,a dynamic event-triggered controller is designed to reduce the number of releases of agent state information and the number of controller updates.Then,based on the constructed dynamic event-triggered mechanism,by designing a new Lyapunov function,it is proved that the system can achieve mean square consensus at the dynamic event-triggered controller,then the effectiveness of the designed controller is verified by numerical simulation and multi aircrafts system simulation.Finally,aiming at the consensus control problem of MASs under the detailed balanced digraph,an adaptive dynamic event-triggered mechanism is designed.Besides,in order to make the system have better performance,the optimal control of MASs is considered.Then,by introducing hyperbolic tangent function into the controller and based on Lyapunov stability theory,it is proved that the systems can converge to the global optimal solution and achieve practical fixed-time stability.The advantages of the adaptive dynamic event-triggered mechanism and the effectiveness of the controller are verified by comparative simulation and power system simulation.