带有不连续动力学的非线性多智能体系统固定时间一致性

Fixed-time consensus for nonlinear multi-agent systems with discontinuous dynamics

本文研究了一类带有不连续动力学和有界扰动的非线性多智能体系统领导跟随固定时间一致性问题.首先,在不对称的有向拓扑图下,本文设计了一种辅助信号,该辅助信号用于观测领导者状态,且该辅助信号不在通信信道中传输,可以有效地减少系统计算代价.随后,基于辅助信号,本文设计了一种不连续控制协议,以实现多智能体系统固定时间收敛.然后,利用非光滑分析、Lyapunov稳定性理论及代数图论等证明系统可在任意初始状态下达到固定时间一致.最后,仿真实例进一步验证了理论结果的有效性.

In this paper,the fixed-time leader-following consensus problem for a class of nonlinear multi-agent systems with discontinuous dynamics and bounded disturbances is investigated.Firstly,under the asymmetric directed topology,the state of the leader is observed by the designed auxiliary signal.The signals are not transmitted in the communication channel,which can effectively reduce the arithmetic cost of the system.Next,based on the auxiliary signal,a discontinuous protocol is designed to reach the fixed-time consensus of multi-agent systems.Then,with the help of non-smooth analysis theory,Lyapunov stability theory and algebraic graph theory,the system can achieve fixed-time consensus under any initial states with the proposed control protocol.Finally,the effectiveness of the result is further demonstrated by the simulation examples.