Research On Fixed-Time Scaled Consensus Of Event-Triggered Multi-Agent Systems

In recent years,under the continuous impetus of the rapidly developing modern science,the fields of information science,biotechnology,and computer science have entered the stage of deep integration,and the collaborative control of multi-agent systems has become more and more widely used in human society.Therefore,numerous scholars in various fields take the cooperative control of multi-agent systems as the research priority.Considering that limited energy and bandwidth are inescapable problems in the process of studying multi-agent systems,this paper investigates the fixed-time scaled consensus problem of multi-agent systems based on the event triggering mechanism,improves the event triggering mechanism into intermittent communication event triggering and dynamic event triggering mechanism,and considers non-ideal situations such as switching topologies,input delay and non-linearity.The contents of this paper are as follows:Firstly,a fixed-time scaled consensus control protocol based on event triggering mechanism is proposed for the fixed-time scaled consensus problem of nonlinear multi-agent systems in switching topologies.This protocol enables the states of all agents to converge to the assigned ratios within a fixed time.Further,the continuous communication trigger condition is improved to an intermittent communication trigger condition,which can avoid continuous communication during controller update and trigger condition monitoring,thereby reducing communication energy consumption.Using graph theory and Lyapunov stability theory,it is proved that the system can achieve fixed-time scaled consensus under the intermittent communication event triggering mechanism,and its convergence time does not depend on the initial states of the agents,and the system excludes Zeno behavior.The correctness of the theoretical analysis is demonstrated by simulation examples.Then,the problem of practical fixed-time scaled consensus in multi-agent systems with input delays under switching topologies is studied.Firstly,a reduced order model is used to transform a time-delay system into a time-delay free system;Secondly,a fixed-time scaled consensus control protocol based on dynamic event triggering mechanism is designed.In a dynamic event trigger mechanism,the trigger condition is based on a time-varying dynamic variables,and the derivatives of the variables have adjustable parameters.Therefore,the trigger mechanism changes dynamically,reducing the number of controller updates,thereby reducing energy consumption;Finally,using graph theory and Lyapunov stability theory,it is proved that the system can achieve practical fixed-time scaled consensus driven by control protocol.Both the convergence time and the convergence value are independent of the initial states of the agents,where the convergence value is only associated with the initial states of the virtual agents set in advance,and the system excludes Zeno behavior.The correctness of the theoretical analysis is demonstrated by simulation examples.