Cooperative Control Of Multi-agent Systems Under Markovian Switching Topologies

In recent years,the cooperative control of multi-agent systems(MASs)has been widely used in the fields of intelligent robot,UAV formation,artificial satellite and so on,which has attracted the attention of many scholars.At present,the cooperative control of MASs mainly includes the consensus control,formation control and containment control,etc.In the research of such problems,the information transmission between agents is very important.In general,we use topological diagraph to represent the communication relationship between agents.In the past,most of the communication topology of MASs was assumed as a fixed graph.Considering the operation environment of MASs,the information exchange between agents may occur communication failure or generate new information transmission chains,so switching topology is of great research significance and practical significance.Therefore,this paper mainly studies the cooperative control problem of MASs based on Markovian switching topologies,where the communication topology of MASs can be switched over time with the switching mechanism described by a Markov process.The specific work of this paper is as follows:1.Firstly,this paper studies the consensus control problem of general linear MASs.Meanwhile,the communication topology of MASs has Markovian switching mechanism,and the communication between agents may be affected by noises.In order to reduce the influence of communication noises,a kind of consensus controller is proposed in this paper.The corresponding sufficient conditions are derived to ensure the MASs to achieve the consensus in mean square sense under the proposed controller.With the help of graph theory,probability theory and Lyapunov stability theory,the feasibility of the proposed controller is proved.A simulation example is given to verify the validity of the theoretical results.2.Then,inspired by the above research results,the study of the consensus control problem of MASs is extended to time-varying formation control problem,and the research goal is extended from the consistent state of the system to make the system form a stable time-varying formation shape.In this paper,the time-varying formation controller based on communication noises is proposed by using and improving the consensus controller mentioned above.The sufficient conditions for the stable time-varying formation are obtained and proved by similar derivation.Similarly,a simulation example is given to verify the validity of the theoretical results.3.At last,considering the operating environment and practical application of MASs can be influenced by many random factors,this paper continues to study the consensus tracking control of the general nonlinear stochastic MASs.Based on the aperiodic intermittent control strategy,a fully distributed intermittent controller is designed,in which the control inputs and adaptive gains are also intermittent.The feasibility of the proposed controller is proved and the corresponding simulation example is given to verify the validity of the theoretical results.