Dynamic Event-triggered Bipartite Consensus Of Multi-agent Systems Under Competitive Topologies

With the development of modern control technology,distributed coordinated control has been widely used in many practical areas,such as multi-vehicle systems,sensor networks,genetic regulatory networks,etc.As an important model for simulating practical physical systems,multi-agent systems have been paid extensively attention by many scholars.Furthermore,consensus is a basic problem in cooperative control of multi-agent systems,and its aim is to propose a control protocol such that states or outputs of each agent can achieve a common value.It is worth noting that it often exists both cooperative and antagonistic behaviors in practical networks.Thus,it is of great significance to investigate consensus of multi-agent systems under the networks,that is bipartite consensus.Bipartite consensus means that the states or outputs of agents in the same part will converge to a common value,and the states or outputs of agents in the different part will converge to the opposite value.This thesis will investigate bipartite consensus problem of multi-agent systems under intermittent control and dynamic event-triggered control,respectively.The specific research contents are divided into the following three aspects:Firstly,adaptive bipartite consensus of multi-agent systems is investigated with asynchronous intermittent communication in chapter 3.Adaptive asynchronous intermittent bipartite consensus protocol is proposed under the fixed topology in the chapter.By using gauge transformation and Lyapunov stability theory,the analysis of convergence is given.Then,the control protocol is extended to the case of switching topology,and,by designing the relationship between switching time and intermittent time,the corresponding results can be obtained.Then,dynamic event-triggered adaptive semi-global bipartite consensus is investigated for multi-agent systems in chapter 4.Based on low gain feedback technology and dynamic event-triggered control method,distributed dynamic event-triggered adaptive control protocols are proposed under fixed and switching topologies,respectively.Under the proposed control protocols and some inequality conditions,the bipartite consensus can be achieved for multi-agent systems by using gauge transformation and Lyapunov stability theory.And Zeno behaviors can be excluded.Finally,observer-based dynamic event-triggered semi-global bipartite consensus is investigated for multi-agent systems in chapter 5.Based on output information,the state observers are designed in the chapter.Then,by utilizing estimated information,low gain feedback technology and dynamic event-triggered control method,distributed dynamic event-triggered control protocols are proposed under fixed and switching topologies,respectively.Under the proposed control protocols and some inequality conditions,the observer-based bipartite consensus can be realized for multi-agent systems by using gauge transformation and Lyapunov stability theory.Furthermore,Zeno behaviors can be excluded.