基于快速终端滑模方法的二阶多智能体系统一致性跟踪

Consensus tracking of second-order multi-agent systems by FTSMC method

研究了二阶多智能体系统在有向图中的有限时间跟踪控制问题。首先基于快速终端滑模控制方法提出分布式有限时间控制协议,然后基于代数理论、拉普拉斯矩阵的性质和有限时间稳定性理论得到二阶多智能体系统一致跟踪的条件。最后仿真验证了该控制协议具有更快的有限时间收敛性。

The finite time tracking control problem is studied in directed topology for second-order multi-agent systems in this paper.Firstly,a distributed finite-time control protocol is presented via the fast terminal sliding mode control method.With the aid of algebraic theory,properties of Laplacian matrix and finite-time stability theory,the criteria are established to achieve the consensus tracking for second-order multi-agent systems.Finally,simulations show that the proposed control protocol has faster finite time convergence.