Research On Quasi-Consensus Of Heterogeneous Multi-agent Systems

Due to the widespread application of the cooperative control of multi-agent systems in intelligent energy,multi-robot formation control,intelligent transportation,multi-unmanned system coordination and others,it is the leading edge of distributed artificial intelligence at present.Consensus is the key common scientific issues of multi-agent systems cooperative control.At present,the focus of research on the consensus of multi-agent systems is to discuss that a single agent has the same dynamic characteristics.In practice,there are unavoidable parameter mismatches or dynamic characteristics difference of each agent,which will lead to the heterogeneity of the multi-agent systems.The existence of heterogeneity cannot realize the complete consensus of the multi-agent systems by linear feedback controllers.However,the consensus error may be bounded,that is quasi-consensus.This paper designs a simple state feedback control protocol and an adaptive control protocol for heterogeneous nonlinear multi-agent systems with different system parameters to achieve the quasi-consensus.The main work is summarized as follows:(1)The quasi-consensus problem between two heterogeneous agents is studied by the state feedback controller.The design method of feedback gain is analyzed through yapunov function and inequality technique.On this basis,the quasi-consensus roblem of a heterogeneous multi-agent systems is researched through state feedback ontroller.The results of numerical simulation experiments prove that state feedback ontroller can achieve quasi-consensus of heterogeneous multi-agent systems.And the elationship between consensus error and feedback gain is verified.(2)The quasi-consensus of a heterogeneous multi-agent systems is studied by the adaptive ontroller.And it solves the problem of working out the eigenvalues of the entire aplace matrix of the heterogeneous multi-agent systems in the state feedback ontroller.Then,three methods of pinning control are further proposed.Only by djusting the coupling weight between some agents,the quasi-consensus of the entire eterogeneous multi-agent systems can be achieved,which is more easily in ngineering applications.The results of numerical simulation experiments prove that he error of the heterogeneous multi-agent systems can effectively converge to a ertain range under the adaptive control strategy and pinning control strategy.(3)The research uses adaptive strategy and pinning control strategy to solve the uasi-consensus problem of a fractional-order heterogeneous multi-agent systems.The adaptive control strategy and the pinning control strategy are further extended to eterogeneous multi-agent systems with fractional-order dynamic.Solve the problem f quasi-consensus when a single different agent in heterogeneous multi-agent systems has fractional-order dynamic.The results of numerical simulation experiments prove that the heterogeneous fractional multi-agent systems can effectively achieve quasi-consensus under the fractional-order adaptive control strategy and the fractional-order pinning control strategy.