具有扰动的二阶多智能体系统预定时间一致性控制

打开文本图片集

中图分类号：TP273 文献标志码：A doi： 10.12415/j.issn.1671-7872.24180

Prespecified-time Consensus Control for Second-order Multi-agent Systems with Disturbances

MA Xiaolu1，YANG Yao1，MEI Hong²，LINuo，QIANGFumin1 .School ofElectrical& Information Engineering，Anhui UniversityofTechnology，Maanshan 243032，Chin： 2. School of Aeronautics，Nanjing Universityof Aeronautics and Astronautics，Nanjing 21oooo， China）

Abstract： Aiming at the consensus control problemof second-order multi-agent systems with extermal disturbances， a distributed predefined-time control strategy based on sliding mode technology was proposed. Under undirected graph conditions，a second-order distributed predefined-time observer was designed to resolve the algebraic loop issue while reducing communication burden，and it was ensured that each folower could accurately estimate the leader's state information within a predefined time. Using the system state eror，a novel distributed predefined-time sliding surface was designed to improve the convergence speed effectively.Furthermore，a predefined-time consensus distributed control protocol considering external disturbances Was designed to guarantee the system state tracking eror convergence to zero within the predefined time. Additionally，through algebraic graph theory and Lyapunov theory，the predefined-time stability of the closed-loop system was rigorously proven，and the upper bound of the stabilization time was derived forunknown initial states.Finall，comparative numerical simulations verified the efectiveness and feasibilityof the proposed strategy and theoretical analysis.The results show that compared with finite-time control strategies，the convergence time of the proposed strategy is independent of the system's initial valuesand its convergence performance is proven superior， whereas against fixed-time control strategies，the upper boundof theconvergence time is notonly independentofthe agents’ initial states and controler parameters but is solely determined by a single time parameter， with significant advantages of precise convergence time estimation， simplified parameter tuning， and reduced conservatism.

Keywords：sliding mode technology; external disturbance;consensus control;observer;predefined time；secondorder multi-agent systems; distributed control

多智能体系统（multi-agent systems，MASs）是由多个自主智能体组成的群体系统，在数据融合[1]、无人机集群编队[2]、智能电网调控[3]等领域展现出显著应用价值。（剩余14077字）