具有切换拓扑的二阶多智能体网络系统的有限时间一致性

Finite-time consensus for second-order multi-agent network system with switching topology

考虑具有双向作用切换拓扑的二阶多智能体网络系统的有限时间一致性问题.通过构造一个含2个控制增益的分布式协议,借助构造的李雅普诺夫泛函以及应用代数图理论、矩阵理论和有限时间稳定性理论等,不仅得到了该系统有限时间一致性的充分条件,还具体给出了系统所有状态达到一致的时间上界.作为特例,获得了具有单向作用固定拓扑的领导者-跟随者多智能体网络在有限时间内达到一致的充分条件.通过数值仿真验证了所得结果的有效性.

Finite-time consensus problem for second-order multi-agent network system with bidirectional interaction networks and switching topology is considered.By constructing a distributed protocol which contains two control gains and applying Lyapunov functional,algebraic graph theory,matrix theory and finite-time stability theory,sufficient conditions for finite-time consensus are established.Especially,the upper bound of the time that all states of the system tend to be consistent is also obtained.As a special case,a sufficient condition that finite-time consensus problem with unidirectional interaction for the leader-follower networks with fix topology is obtained.Numerical simulations are presented to verify the efficiency of the results.