Research On Flocking Control Of Nonlinear Multi-agent Systems Based On Event-triggered

The research on flocking control problems of nonlinear multi-agent systems is mainly derived from the flocking behavior of some groups such as birds,bees,and fish in the biological world.With the rapid promotion of bionics to the development of human social science and technology,the significance of flocking control in the bionic research of group behavior control is becoming more and more obvious,which can not only explain some group behavior characteristics in the biological world,but also provide a practical theoretical basis for solving practical problems such as UAV formation control,mobile sensor network target tracking,complex power network control and so on.At present,the theoretical research of flocking control is mostly based on the continuous information exchange between different agents,without considering the resource loss caused by uninterrupted communication,and there are relatively few research contents on how to effectively reduce the system communication loss in the flocking process.In order to overcome the waste of network bandwidth and CPU computing resources caused by the traditional flocking control method,this paper proposes different event-triggered methods to improve the current control protocols based on the traditional flocking control model.Therefore,the main research contents of this paper are as follows:1.Based on the traditional flocking control model of nonlinear multi-agent systems,adaptive event-triggered control method is introduced,a novel flocking control protocol is designed,and an adaptive event-triggered function that meets the Lyapunov stability requirements is proposed to ensure that agents in system can still complete the flocking motion under a new control strategy.In addition,by calculating the time interval between any two event triggers,it can be inferred that there is no Zeno behavior during the flocking process.Compared with the traditional flocking control method,adding an adaptive eventtriggered strategy makes the multi-agent system reduce the frequency of communications during the flocking process and enhance the robustness effectively.Finally,it is verified by numerical simulation that system can realize the flocking motion under the adaptive eventtriggered control protocol.2.The dynamic event-triggered strategy is used in the research of fixed-time flocking problem in this paper,which ensures that the system with nonlinear dynamics can still complete the stable flocking motion under the constraint of fixed-time.In addition,this paper also designs a novel dynamic event-triggered function for the flocking control model under the constraint of fixed time,and formulates the triggering threshold rule which can adapt to the change of unknown parameters of the system.The trigger threshold can change dynamically according to the triggering law,so as to dynamically adjust the time interval of event triggers.Likewise,under the dynamic event-triggered control law,the paper proves that Zeno behavior can be avoided in the flocking process,and the corresponding MATLAB simulation examples are given at the end of the theoretical proof,which effectively verifies the correctness of the theoretical analysis.