有限时间的多领航者一致性算法

Finite-time consensus algorithm for multiple leaders

针对网络控制系统中的多目标协同控制问题,研究了一种有限时间的多领航者一致性算法。首先以线性的双积分器为研究模型,通过使用恰当的分布式滑模面,设计了一种有限时间控制器。在Lyapunov分析的基础上,证明了该算法能够控制多个跟随者收敛于多个领航者构成的状态凸包内。将该算法用于动力学模型为非线性的移动机器人的协同控制问题当中。数值仿真表明:该算法能够用于解决多静态目标和多动态目标的移动机器人协同控制问题,并且具有良好的干扰抑制能力和快速的收敛速度。

A finite-time consensus algorithm for multiple leaders was developed to improve coordination of multiple group objects in networked control systems. A linear double-integrator model was used in a finite-time controller with a distributed sliding surface. A Lyapunov analysis shows that the algorithm can drive the followers to converge to the convex hull formed by the leaders. Then, the algorithm was applied to cooperative control of multiple mobile robots modeled by nonlinear dynamics. Simulations show that the algorithm can be used for stationary and dynamic objective tracking problems for multiple mobile robots with good disturbance rejection and fast convergence.