无速度测量的多智能体系统有限时间一致性

Finite-Time Consensus of Multi-Agent Systems without Velocity Measurement

针对多智能体系统在有限时间稳定和速度信息不可测条件下的一致性问题,提出了一种新的基于辅助系统的有限时间控制协议。先通过设计辅助系统,使每个智能体在缺失速度信息的情况下能获得必要的阻尼。基于辅助变量和相对位移信息,设计了一种有限时间控制协议。再利用Lyapunov稳定性理论和代数图论,证明了所提的有限时间控制协议能够有效实现多智能体系统的一致性。将理论结果推广到领导-跟随者多智能体系统中。仿真结果进一步验证了一致性算法的有效性。

A kind of finite time control protocol is proposed for the finite time consensus problem of multi-agent system under the condition of finite time stability and unmeasurable velocity information.Firstly,an auxiliary system was designed so that each agent can obtain the necessary damping in the absence of velocity information.Then,based on the auxiliary variables and the relative displacement information,a finite time control protocol was designed.Secondly,using Lyapunov stability theory and algebraic graph theory,it was proved that the proposed finite-time control protocol can effectively achieve the consensus of multi-agent system.Finally,the theoretical results were extended to leader-follower multi-agent systems.Simulation results further verify the effectiveness of the consensus algorithm.