基于二阶动力学模型的非完整多个体系统有限时间一致性问题研究

Finite-time consensus algorithm for multi-agent systems with double-integrator dynamics

本文讨论了多智能体系统在受到外界扰动的无领导者系统的有限时间一致性问题.基于有限时间控制策略,本文设计了针对二阶智能体模型的连续分布式控制策略.首先针对二阶模型的多智能体系统,提出了有限时间一致性控制策略,并且通过设计了李雅普诺夫函数给出了完整的证明过程.其次,设计了仿真实验,并且在文中给出了仿真结果,验证了本文所提控制策略的有效性以及具有一定的抗扰动能力.

In this paper,we discuss the finite-time consensus problem for leaderless and multi-agent systems with external disturbances.Based on the finite-time control technique,continuous distributed control strategies are designed for these agents described by double integrators.Firstly,for second order model of multi-agent system,is put forward the finite time consistency control strategy,and through the design of the lyapunov function provides a whole proof process.Secondly,this paper designs the simulation,and the simulation results show that this proposed control strategy is effective and has a certain anti-disturbance ability.