| Multi agent systems are composed of a variety of agents with cognitive,computational,executive,and communication capabilities.Compared with a single agent system,multiple agent systems can improve efficiency,effectively reduce costs,and improve risk resistance after performing tasks.Therefore,in recent years,the collaborative control problem of multi-agent systems has received widespread attention from scholars.Formation control is a major technical field of coordinated control for multi-agent systems.It refers to the controlled process in which a formation composed of multiple agents must not only adapt to environmental conditions,but also maintain a stable and desired formation during the movement of a target in a certain direction.Under the framework of directed topology,this paper studies the formation control problem of multi-agent systems based on event triggering,aiming at the situations of noise information interference in the communication information of agents,excessive consumption of communication resources,network attacks during the information transmission process,and the inability to obtain the status,location,and speed information of agents in a timely manner.The specific research contents are as follows:(1)For the multi-UAV system with external noise interference,this paper studies the fast formation control of multi-UAV based on event triggering.To save communication resources and reduce network burden more effectively,the event triggering method is used to make UAVs communicate only at the time of triggering.In order to accelerate the formation speed of multi-UAV system,a distributed rapid formation control protocol is designed using the current information and historical time information of UAV itself and its neighbors.By using Lyapunov stability theorem,matrix knowledge and graph theory knowledge,it is proved that the multi-UAV system can achieve stability and expected formation under given trigger conditions.Finally,the control protocol is applied to the four-rotor UAV system,and the effectiveness of the control protocol is verified by simulation results.(2)This paper discusses adaptive formation control of multi agent systems based on dual channel event triggering for second order multi agent systems subjected to Dos attacks.Firstly,a Dos attack model that satisfies the attack duration and attack frequency constraints is proposed.Secondly,event triggered controllers are designed at both ends of the sensor controller channel and the controller actuator channel of each agent,so that the agents only communicate at the trigger time within each channel.Using the information of all agents to design formation control protocols and adaptive control protocols.Further,using knowledge such as Lyapunov stability theorem,matrix,and graph theory,sufficient conditions for the formation stability of multi agent systems are obtained.Finally,simulation results verify the effectiveness of the control protocol.(3)For high order multi agent systems with nonlinear dynamics under Dos attacks,this paper discusses finite time time-varying formation control of multi agent systems based on fast state observers.Firstly,considering that agents cannot obtain information in a timely manner under Dos attack signals,a class of fast state observers is designed to estimate the state information of agents.Secondly,event triggered controllers are designed based on observations at both ends of the measurement and control channels of each agent.In order to compensate for the interference of Dos attacks on the system,a class of estimators is considered for online estimation of state observations,and an observer based finite time formation control protocol is designed.Further,using Lyapunov’s finite time stability theorem,homogeneous theorem,matrix knowledge,and graph theory knowledge,sufficient conditions for achieving time-varying formation stability of multi-agent systems are obtained.Finally,simulation results verify the effectiveness of the control protocol. |
