Research On Consensus Of Multi-Agent Systems With Estimator Under Event-Triggered Mechanism

In this paper,the consensus of linear multi-agent systems under the event-triggered mechanism is studied,and the continuous dependence of agents on neighbor information is solved by introducing an estimator.The main research contents are as follows:For general linear multi-agent systems,the leader-following consensus problem with dynamic event-triggered control protocol is studied.A distributed controller with estimated states is designed and a dynamic event-triggered communication protocol with an auxiliary variable is proposed for each agent to update its triggering threshold.Under this control strategy,the systems only need the states in triggering instants without continuous communication.The existence of a dynamic threshold guarantees fewer triggering times,in contrast to the conventional static one.Meanwhile,the estimator is designed between the triggering instants to reduce the state shift,the next state of each agent depends on the local information of itself and its neighbors rather than global information.Then,the multi-agent systems can achieve consensus without Zeno behavior.Finally,a simulation example is offered to verify the effectiveness and feasibility of the proposed approach.For the linear multi-agent systems without leader,the bipartite consensus problem with dynamic event-triggered protocol is studied.A distributed controller with a cooperativeantagonistic mechanism and estimated state is first designed,and a dynamic event-triggered mechanism proposed in which the triggering threshold is dynamically updated by the designed auxiliary equation.Under this control strategy,the systems only need the state of the agent and neighboring agents at the triggering instant.At the same time,the estimator is considered to reduce the state deviation of multi-agent systems between two triggering instants.Moreover,bipartite consensus can be achieved without Zeno behavior.Finally,the feasibility of the proposed method is illustrated in a unicycle model.For the multi-agent systems subject to denial-of-service attacks and input saturation,the bipartite security consensus in directed weighted networks is studied.First,a feedback control protocol is designed based on low-gain technology to address the input saturation constraint.Then,an estimator is introduced to design a dynamic event-triggered communication protocol,which avoids continuous communication between agents.In addition,sufficient conditions for realizing bipartite security consensus are obtained.Moreover,the dual-channel concept is considered to further save resources.A dual-channel event-triggered control protocol is designed in the controller-actuator channel and communication channel.By considering an exponential threshold,the dual-channel event-triggered control protocol can operate stably when the control signal is minute.Finally,the effectiveness of the method is verified in the multi-manipulator system.