Prescribed-time Bipartite Consensus Of First-order Multi-agent Systems

Due to its wide applications in traffic and transportation planning,drone sensing of robots and so on,consensus of multi-agent systems(MASs)has been one of the hottest research topics in the field of control theory and applications.Up to now,fruitful results have been obtained on the asymptotic consensus,finite-time consensus and fixed-time consensus of MASs.Following the existing work on the consensus problems,this thesis aims to investigate the prescribed-time bipartite consensus of firstorder MASs.The main contributions of this thesis are listed as follows:(1)Based on two different triggering mechanisms,event-based control algorithms are proposed to solve the prescribed-time bipartite consensus problems of first-order MASs.Algebraic graph theory and prescribed-time Lyapunov theory are employed as main tools to derive the sufficient conditions for prescribed-time bipartite consensus.Besides,it is shown that the Zeno behavior can be avoided effectively by applying the second control algorithm.Finally,the effectiveness of proposed algorithms is verified through numerical examples.(2)Event-based control algorithm is designed for first-order nonlinear MASs with input delay and bounded disturbances.Sufficient conditions are given for guaranteeing the prescribed-time bipartite consensus of nonlinear MASs using graph theory and prescribed-time Lyapunov theory.In addition,the Zeno behavior can be eliminated effectively under designed algorithm.Finally,the effectiveness of the theoretical results is validated by numerical simulations.(3)For leader-following nonlinear MASs with first-order dynamics and signed directed graphs,event-based control algorithm is provided.By utilizing prescribed-time Lyapunov theory and linear matrix inequality technique,sufficient conditions are derived to ensure that the bipartite consensus tracking is achieved within prescribed time.Besides,no Zeno-behavior occurs under proposed control algorithm.Finally,numerical examples are given to verify the validity of proposed algorithm.