Finite-Time Average Consensus Control of Multi-Agent Systems Based on the Aperiodically Intermittent Control

Yiping Luo,Junling Zhu

doi:10.1109/access.2022.3149278

Abstract

This study investigates the finite-time consensus problem of multi-agent systems under an aperiodically intermittent control. By designing an appropriate control protocol, the whole control process can be divided into two states, namely, the continuous communication time period and the interrupted communication time period. These two control states are aperiodic. Then, according to the designed control protocol, the appropriate Lyapunov function is constructed using the segmented state information. Subsequently, the corresponding state model of the multi-agent system is introduced, and the relevant conditions for the consensus of the multi-agent system under an aperiodically intermittent control are obtained using norm inequality and the corresponding properties of the Kronecker product. After determining the consensus of the general model, the nonlinear term and uncertainty term are added, and the consensus is realized using the control protocol. The control method presented in this research can avoid continuous communication, and the aperiodic control process is more in line with the relevant needs of the actual project than the periodic control process. As a result, the proposed method can effectively reduce energy consumption and fit actual projects. Finally, the effectiveness of the theory is proven via numerical simulation.

Highlights

I N the past ten years, the distributed coordinated control of multi-agent systems has been widely used in the fields of multi-robot cooperative control [1,2,3,4,5], UAV(Unmanned Aerial Vehicle) formation flight control [6,7,8,9,10], and communication network [11,12,13]; it is widely investigated
This paper studies the finite-time consensus of a class of deterministic systems and adopts the aperiodically intermittent control strategy
This paper studies a class of multi-agent finite-time consensus problem with bidirectional information exchange, it can be extended to one-way connected multi-agent consensus control under certain conditions

Summary

Introduction

I N the past ten years, the distributed coordinated control of multi-agent systems has been widely used in the fields of multi-robot cooperative control [1,2,3,4,5], UAV(Unmanned Aerial Vehicle) formation flight control [6,7,8,9,10], and communication network [11,12,13]; it is widely investigated. Consensus control is an important component of the coordinated control of multi-agent systems. The output stationary average consensus of heterogeneous linear multi-agent systems with unknown parameters under undirected or balanced directed networks was investigated in [14], and the average consensus of multi-agent systems with binary communication under directed topology was explored in [15].

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Results

Conclusion