饱和约束中立稳定多智能体系统有限时间广义一致性研究

Finite-time Generalized Consensus of Neutrally Stable Multi-agent Systems with Input Saturation Constraints

考虑系统有限时间稳定与执行器饱和的问题,针对具有输入饱和的中立稳定多智能体系统的有限时间广义一致问题,设计了二种分别适用于无领导者和领导-跟随情况下的分布式非光滑控制算法;该算法利用智能体间的局部通信,驱使智能体间达成有限时间广义一致;通过Lyapunov有限时间稳定理论、LaSalle不变集原理、不等式放缩及矩阵知识得出了系统实现全局有限时间广义一致的充分条件和系统收敛时间的范围;通过研究发现:具有输入饱和的中立稳定多智能体系统的收敛时间与控制参数、智能体间的通信关系、广义映射函数及饱和上界有关;最后,通过数值仿真进一步验证了理论结果的正确性及有效性。

Considering the finite-time stability and actuator saturation of the system,two distributed non-smooth control algorithms are designed for the finite-time generalized consensus problem of neutral stable multi-agent system with input saturation under the situation of leaderless and leader following respectively.The algorithm uses local communication between agents to drive agents to reach finite-time generalized consensus.Based on Lyapunov finite-time stability theory,LaSalle invariant set principle,inequality expansion and reduction and matrix knowledge,the sufficient conditions for the multi-agent system to achieve global finite-time generalized consensus and the range of system convergence time are obtained.It is found that the convergence time of the neutral stable multi-agent system with input saturation is related to the control parameters,the communication relationship between agents,the generalized mapping function and the upper bound of saturation function.Finally,numerical simulations verify the correctness and validity of the theoretical results.