Network Of Multi-agent System Coordination And Control And Consistency Issues

With the rapid development of technology, the cooperative control of multi-agent system has received much attention from many researchers in various disciplines of science. This is mainly because of wide applications in engineering area including formation control of unmanned air vehicles, swarms, distributed sensor networks, and congestion control in communication networks. The critical problem of designing cooperative control arithmetic is to solve protocol of the consensus. Based on distributed cooperative control, the theory of consensus has a fast development. By using matrix theory, graph theory and control theory, the consensus protocol and formation control of networked multi-agent systems is investigated in this paper.Cooperative controller design and optimization problems of multi-agent systems are discussed in this paper. Based on the method of bilinear matrix inequalities (BMI), the necessary condition for stabilization of multi-agent systems is presented. Then, the optimization design method for cooperative control is also considered with respect to a quadratic performance index.And the consensus problem based on cooperative control is studied. A new consensus protocol is proposed for high-dimensional networked multi-agent systems with fixed topology, and consensus convergence of multi-agent systems is analyzed based on Lyapunov stability theory. The consensus problem can be formulated into solving feasible problem with bilinear matrix inequality (BMI) constrains. Furthermore, consensus protocol is extended to achieve tracking and formation control.In real applications, it is not possible to ensure the topology with a spanning tree. To overcome this problem, an improved condition of switching interaction topology is presented. A new consensus tracking protocols with a constant and time-varying reference state are proposed, respectively. Moreover, consensus tracking protocol with a time-varying reference state is extended to achieve formation control. Finally, the test results show that the effectiveness of the designing methods in this paper.