Consistency Tracking Control Of Multi-agent Systems Based On Event-triggered Strateg

In recent years,with the wide application prospects of multi-agent systems(MASs)in unmanned aerial vehicles,mobile robots,underwater vehicles and other fields,it has attracted the attention of scholars.The issue of consensus is a hot and a basic issue in the cooperative control of multiple agents.Consensus refers to the use of information exchange between agents to design appropriate controllers,so that the states of all agents in the system ultimately reach consensus over time under the action of the controllers.An MASs is composed of a large number of sub-agents.Since the system will inevitably be subjected to external disturbances during operation,which will affect the system performance and even cause instability of the system,increase the number of system events based on event-triggered(ET)strategies,and even cause Zeno behavior.Therefore,the consensus problem in the presence of disturbances is a very important research topic.For MASs with external disturbances,this paper studies the consensus tracking control of MASs based on ET strategies.The main contents are as follows:In the first chapter,the research background and current situation of consensus control of MASs are introduced,and the related preliminaries of algebraic graph theory,definitions and lemmas are given.The second chapter studies the ET consensus tracking problem of linear MASs with external disturbances under the directed topologies to ensure that the MASs will not have Zeno behavior.The dynamic ET mechanism is given.Compared with the static ET mechanism,the dynamic ET mechanism can ensure the number of triggers to be reduced.In order to solve the H_∞the consensus of the tracking problem,an event-triggered H_∞controller is designed.The proposed ET control strategy ensures that the H_∞consensus tracking without requiring the continuous communication between the adjacent agents.A simulation system is built in the MATLAB/Simulink environment to simulate and study the proposed control strat-egy,and the effectiveness of the theory is verified.The third chapter studies the distributed ET consensus tracking problem of linear MASs with external disturbances and unmeasurable state information.An observer-based event contact consensus tracking controller is proposed,and suffi-cient conditions for the consensus tracking problem to be solved are given.Com-pared with the existing research that requires continuous communication between adjacent agents,the proposed ET mechanism can handle the impact of disturbances on the system when the state information is unpredictable,avoid continuous com-munication,reduce energy consumption,and achieve consensus tracking goals and exclude Zeno behavior.The effectiveness of the designed event trigger control strat-egy is verified through the simulation example.In the fourth chapter,the event-triggered consensus tracking problem of linear MASs with external disturbances under directed switching topologies is studied.In order to achieve the H_∞consensus goal,a new event-triggered H_∞control strategy is proposed under the directed topology,which can reduce the controller update frequency and eliminate the Zeno behavior in the presence of disturbance.A simu-lation example is given to verify that the event-triggered control strategy designed under the directed switching topologies can achieve consensus tracking and Zeno behavior does not occur.