| Over the past decades,multi-agent systems(MASs)has attracted a great deal of research interest owing mainly to their wide-ranging of applications in various fields ranging from intelligent transportation,intelligent search and rescue,and geological exploration to maritime patrol and aerospace industries.As one of the main research directions in MASs,the goal of consensus control is to make certain states of multiple agents identical by collaborative cooperation among them via designing consensus controller(or protocol)for each agent using information from neighboring agents.The consensus control has a wide range of applications such as cooperative control,swarming,aggregation,and synchronization.At present,research results on the consensus control of multi-agent systems are mainly focused on single-rate systems.Considering the limited resources of the agents themselves and many spatial and temporal limitations of sensor sampling,the use of multi-rate sampling is more in line with practical engineering needs,and is more advantageous in keeping the balance between system performance and communication resource consumption.In addition,in order to collaboratively accomplish the consensus,a large amount of information must be exchanged among multi-agents over the bandwidth-limited channels,and the event-triggered mechanisms can further reduce the use of communication resources.Therefore,it is extremely meaningful to investigate the consensus control problem for multi-rate multi-agent systems under the schedule of event-triggering mechanism while ensuring the desired performance of the system by using scarce resources more rationally.The main research contents of this paper are introduced as follows:1.The non-fragile H∞-consensus control problem is studied for a class of multi-rate multi-agent system under the static event-triggered mechanism.In order to be more in line with practical engineering need,a multi-rate sampling strategy is adopted to save sampling energy,and the multi-rate sampling system is transformed into a single-rate sampling system via lifting technique.Considering the transmission burden among the agents,a static event-triggered mechanism is introduced to reduce the numbers of transmission among the agents.In addition,in view of the possible inaccuracy of the controller implementation,a controller that can tolerate the changes/fluctuations during the implementation is designed for each agent to make the multi-agent system more robust.Finally,sufficient conditions to make the closed-loop system satisfy H∞-consensus control are obtained with the help of Lyapunov stability theory,and then the controller gain is calculated using linear matrix inequality technique.2.The distributed H∞-consensus control problem is concerned with a class of multi-rate multi-agent systems with channel fading measurements.Multiple random variables with values between 0 and 1 are used to describe the presence of different degrees of channel fading between each agent and its sensor.A dynamic event-triggered protocol is used to schedule the information transmission among the agents,where a dynamic variable taking a positive value is used to describe the threshold change in the event trigger,and such a design can further reduce the channel transmission burden.Finally,by using tools such as stochastic analysis,matrix inequalities,and Lyapunov stability theory,sufficient conditions that can guarantee the H∞-consensus control performance of the closed-loop system are obtained,which are then transformed into the gain matrix required for linear matrix inequality calculations.3.The effectiveness of the proposed consensus control algorithms are all demonstrated by a lateral dynamics model of the aircraft,showing that the design of the non-fragile controller is effective while overcoming the detrimental effect of channel fading.Furthermore,the simulation results verify the effectiveness of the multi-rate sampling strategy and the event-triggered protocol in reducing resource consumption. |
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