Fixed Time Consensus Of Multi-agent System Based On Event Triggered Impulsive Control

The cooperative control technology of multi-agent systems has developed rapidly in the past few decades.As an important problem,the consensus problem has attracted the attention of experts and scholars at home and abroad,and has been widely used in formation control,swarm problem,coordinated control of UAV,filter in sensor network and unmanned driving.Because in the real environment,environmental factors,practical operability and economic cost all affect the consensus performance of multi-agent systems.In the process of achieving consensus,the initial state,convergence time and system parameters of the system often affect the convergence performance.Some scholars have proposed a finite time consensus method to solve this problem,which can make the multi-agent systems achieve consensus in a limited time,However,the defect of finite time consensus method is that the convergence time cannot be calculated in advance and will be affected by the initial states of the system.Therefore,fixed time consensus came into being,which can solve the above defects at the same time,and the convergence time will only be affected by the system parameters.In the traditional control protocol,the centralized control mode or periodic sampling control mode is adopted for each agent.Usually,because there are too many individuals in the network,it is impractical to adopt centralized control or other schemes.It is better to realize distributed control by using local information exchange between neighbors through shared network.The disadvantage of periodic sampling control is that it will waste the resources of agents to a certain extent.Therefore,this paper designs a communication method based on event triggered,which saves the communication resource consumption in the system as much as possible,and combines impulse control to further accelerate the convergence speed of multi-agent system.This paper studies the fixed time consensus of multi-agent system based on event triggered impulsive control,compared with existing related studies,this paper mainly has the following improvements and main results:(1)The fixed time consensus of multi-agent system with leader and without leader is realized by using event triggered impulsive control.Two new fixed-time event triggered impulse control protocols can greatly improve the convergence speed,lower energy consumption and fewer controller updates.It is proved that continuous communication between agents and Zeno behavior can be avoided.(2)The fixed time consensus of the nonlinear multi-agent control system in the directed weight topology is realized,and the event triggered impulsive control is extended to a more practical system.Through theoretical derivation,Lyapunov function is used to prove that the system can achieve consensus.The above analysis proves the effectiveness and novelty of the control strategy proposed in this paper in nonlinear directed topology multi-agent systems.