摘要
针对存在外部扰动、模型不确定和执行器故障等情况下的非线性多智能体系统,研究了预设时间容错一致性问题,提出一种新的预设时间滑模控制方案。首先,通过预设时间稳定理论和滑模控制技术,构造积分滑模面,并设计分布式预设时间控制协议;其次,利用Lyapunov稳定性理论,证明在该控制方案下,一阶非线性多智能体系统实现预设时间容错一致,相较于以往的有限时间一致性和固定时间一致性方法,该方案具备可以事先设置收敛时间的优势;最后,通过数值仿真实例验证了控制协议的有效性。
The prescribed-time fault-tolerance consensus problem is investigated for a nonlinear multi-agent system with external disturbances,model uncertainties,and actuator faults.Firstly,the integrated sliding mode surface is constructed using prescribed-time stability theory and sliding mode control technology,and a distributed prescribed-time control protocol is designed.Secondly,by employing Lyapunov stability theory,it is proven that the first-order nonlinear multi-agent system can achieve prescribed-time fault-tolerance consensus under this control scheme.Compared to previous methods based on finite-time consensus and fixed-time consensus,this scheme allows for setting the convergence time in advance.Finally,numerical simulation examples are provided to validate the effectiveness of the proposed control protocol.
作者
赵磊
郑小帆
ZHAO Lei;ZHENG Xiaofan(School of Mechanical and Electrical Engineering,Huangshan University,Huangshan 245041,China)
出处
《黄山学院学报》
2024年第5期31-36,共6页
Journal of Huangshan University
基金
安徽省教育厅自然科学重点项目(2022AH051951)。
