Consensus Of Multi-agents Systems

This paper is devoted to the study of average consensus problems of multi-agentsystems.In Chapter one, we introduce the concepts of multi-agent systems and look backon the development in the past decades. In Chapter two, we consider average consen-sus problems in undirected networks of multi-agents with fixed topology as well asmultiple time-varying communication delays. Suppose that the topology is connected,we discuss the average consensus of multi-agent systems with multiple time-varyingdelays by the Lyapunov functional method. The result states that the multi-agents canachieve average consensus if several feasible linear matrix inequalities are providedwhere we can determine the upper bound and lower bound of time-varying communi-cation delays. In Chapter three, the leader-?ocking consensus problem with unknownparameters is studied. When the networks with topology have symmetric weights, lin-ear controllers and adaptive laws are proposed to guarantee the states of all agents cantrack the leader's.