Event-Triggered Consensus Control Of Multi-Agent Systems With Prescribed Performance

Recently,the consensus problem has attracted lots of attention from scholars,due to the widespread applications of multi-agent systems.Due to the limited communication and computing resources in multi-agent systems,event-triggered control mechanisms are often used to reduce the communication load of agents and the update frequency of controllers.In the applications,the transient and steady-state performance,such as overshoot,convergence speed and steady-state error,are very demanding,but they are usually ignored in theoretical research.Therefore,the prescribed performance control method is used to guarantee the transient and steadystate performance during the convergence process.The event-triggered consensus problems of systems with prescribed performance are studied.The main research contents and innovative works are as follows:1.For the problems that transient performance cannot be guaranteed,communication and computing resources are limited during the convergence process,an event-triggered consensus algorithm for first-order multiagent systems with prescribed performance is proposed.By introducing a prescribed performance control strategy,a performance function is designed to impose nonlinear constraints on the state in the edge space,so that the edge position error evolves within the predefined region? an edgebased event-triggered strategy is designed to realize discontinuous communication? through normalization transformation and nonlinear mapping,the consensus problem of the original system with nonlinear constraints is transformed into the boundedness and convergence problems of the equivalent position error system,and Lyapunov function based on the equivalent position error,and Barbalat lemma are used to complete the proof.Since the positive definiteness of the edge Laplacian matrix is determined by the communication topology graph,two cases of the communication topology graph being a connected graph with a cycle and a spanning tree are discussed,respectively.To avoid continuously monitoring edge position errors,a edge-based self-triggered control strategy is designed to further reduce the communication load of the system.Finally,numerical simulations are used to verify the validity of the theoretical results.2.For the problems that the transient performance of position and velocity variables cannot be guaranteed simultaneously during the convergence process,a consensus algorithm for second-order multi-agent systems with prescribed performance is proposed.For the systems,a performance function is introduced to impose nonlinear constraints on the edge position error and edge velocity error respectively? through normalization transformation and nonlinear mapping,the consensus problem of the original system with nonlinear constraints is transformed into the boundedness and convergence problems of the equivalent position and equivalent velocity error system,and Lyapunov stability theory and the backstepping method are used to complete the proof.This research not only achieves the consensus of the multi-agent systems,namely position consensus and velocity consensus,but also guarantees the transient performance.Finally,numerical simulations are used to verify the validity of the theoretical results.3.For the problems that the transient performance cannot be guaranteed during the consensus convergence process,and the communication and computing resources are limited,an event-triggered consensus control algorithm for the second-order multi-agent systems with edge position prescribed performance is proposed.For the static consensus problem,i.e.,position consensus and the speed is 0,a nonlinear state constraint for the edge position error is designed,so that the edge position error can evolve within the predefined region? an event-triggered static consensus algorithm based on equivalent position error and node velocity is proposed.More generally,for the event-triggered consensus problem,i.e.,position consensus and velocity consensus but velocity is not zero,a nonlinear state constraint based on edge position error is designed,and an event-triggered consensus algorithm based on equivalent position error and velocity error is proposed? Lyapunov stability theory and Barbalat lemma are used to complete the proof.Finally,numerical simulations are used to verify the validity of the theoretical results.