Consensus Control Of Heterogeneous Multi-Agent Systems In Complex Environments

In recent years,the cooperative control of multi-agent systems has shown broad application prospects in the aerospace,military,and many other fields,such as the cooperative reconnaissance of UAVs,the saturation attack of missiles,the cooperative sealing of UGVs,and so on.Consensus control is an important research topic of the cooperative control for multi-agent systems,which aims to force all the agents to converge to a common value by using only neighbors’ information.In practical applications,due to the limitations of various working environments and task requirements,the dynamics of the agents are often different from each other,forming heterogeneous multi-agent systems.In addition,communication networks are inevitably affected by complex environments such as communication noise,time-delay,and switching topology.This dissertation mainly studies the consensus control of heterogeneous multi-agent systems in complex environments.The main contents are as follows:For heterogeneous multi-agent systems with measurement noise,a consensus protocol is designed.Firstly,the consensus problem is transformed into the stability problem of stochastic differential equations with multiplicative noise.Then,a stability analysis method for such stochastic differential equations is proposed by structuring the appropriate Lyapunov function.Some sufficient conditions for both mean square and almost sure consensus are obtained for leader-free/leader-following heterogeneous multi-agent systems.These sufficient conditions,expressed by simple scalar inequalities,are explicitly related to control gains,noise intensities,and network topology.Furthermore,the mean square and almost sure convergence rates of the consensus protocol are also obtained.For heterogeneous multi-agent systems with compound noise and switching topologies,a consensus protocol is designed under the condition that union topologies are connected.Due to the coexistence of Markovian switching and compound noise,it is difficult to prove the consensus under various topologies using the Lyapunov approach.Therefore,the second-moment-based method is introduced to investigate the consensus problem of heterogeneous MASs with Markovian switching topology and compound noise to solve this problem.Firstly,the boundedness of the agents’ states is proved.Then the sufficient conditions for mean square consensus are developed by estimating the second moment of the state error,where the properties of stochastic matrices and the ergodicity of Markov chains is utilized.Afterward,the supermartingale convergence theorem is used to obtain the sufficient conditions for almost sure consensus.It is shown that Markovian switching can reduce the requirement for the connectivity of the communication network.For heterogeneous multi-agent systems with multiplicative noise and time-delay,a consensus protocol is designed while considering the nonlinear dynamic.Firstly,a stability criterion for nonlinear stochastic delay systems with multiplicative noise and time-varying delay is proposed by applying the appropriate Lyapunov-Krasovskii functional.Then based on the proposed stability criterion,sufficient conditions are established for mean square and almost sure consensus of heterogeneous multi-agent systems with nonlinear dynamics.Afterward,the above sufficient conditions further degenerate to the case with integrator dynamics.In particular,when the time delay vanishes,the explicit conditions are obtained for the heterogeneous multi-agent systems with integrator dynamics in the form of scalar inequalities,which can intuitively reflect the relationship between noise intensity and control gains.Based on the consensus control theory of heterogeneous multi-agent systems,the formation control algorithm of UAV-UGV is designed.The controller was built by MATLAB/Simulink and imported into Rfly Sim to carry out formation control simulation experiments.Then by using the air-ground heterogeneous formation control platform to import the controller into the formation control workstation and send formation control commands to UAVs and UGVs through the formation control workstation,formation control physical experiments are carried out.The experimental results show the UAV-UAV heterogeneous system can achieve the desired formation based on the designed formation control algorithm.