摘要
本文研究了带有干扰的多智能体系统固定时间一致性控制问题.首先,基于Super-twisting(超螺旋)算法,构建可以在固定时间内消除干扰影响的积分滑模.然后,利用积分滑模提出一种新的固定时间一致性控制算法.进一步,当状态信息不可用时,通过积分滑模构造固定时间状态估计观测器,建立固定时间观测器和跟踪控制器来实现系统的一致性.通过Lyapunov稳定性理论,给出多智能体系统在受到干扰下的固定时间收敛性分析.最后,通过一些数值模拟证明本文提出的一致性控制算法的有效性.
This paper investigates thefixed-time consensus control issue for multi-agent systems with disturbances.First,an integral sliding mode is developed based on the super-twisting algorithm,which can eliminate the disturbances in afixed time.A novelfixed-time consensus control algorithm is then proposed with the help of integral sliding mode.Moreover,when the state information is not available,thefixed-time observer and the tracking controller are constructed to achieve the convergence of multi-agent systems,where the observer is proposed based on integral sliding mode.Thefixed-time convergence analysis of multi-agent systems with disturbances is given through the Lyapunov stability analysis.Finally,some numerical simulations are shown to certify the effectiveness of the proposed consensus control algorithms.
作者
颜廷若
徐旭
YAN Ting-ruo;XU Xu(College of Mathematics,Jilin University,Changchun Jilin 130012,China)
出处
《控制理论与应用》
EI
CAS
CSCD
北大核心
2024年第10期1745-1752,共8页
Control Theory & Applications
基金
科技创新2030–“新一代人工智能”重大项目(2021ZD0112500)
国家自然科学基金项目(12072128)资助.
关键词
多智能体系统
积分滑模
固定时间收敛
一致性
观测器
multi-agent systems
integral sliding mode
fixed-time convergence
consensus
observer
