符号图下含扰动的多智能体系统预定时间二分一致性

Predefined-time bipartite consensus of multi-agent systems with disturbances under signed graph

研究符号图下具有扰动的多智能体系统二分一致性控制问题.考虑了线性系统、非线性不确定系统以及切换拓扑的情况,分别提出相应的预定时间控制器,各控制器可使系统在预定时间内实现二分一致性.通过Lyapunov稳定性理论、代数图论和矩阵分析等验证算法的准确性;仿真对比实验验证了所提算法的可行性和有效性;相较于有限时间控制算法,所提算法的收敛时间不依赖于初始状态,可以通过选择单一时间参数设定系统收敛时间上界;相较于固定时间控制算法,所提算法预设收敛时间与控制算法参数无关,设定简单,具有更低的保守性.

The bipartite consensus control problem of multi-agent systems with disturbances under signed graph is studied.Considering the linear system,nonlinear uncertain system and switching topology,the corresponding predetermined time controllers are proposed respectively.Each controller enables the system achieve bipartite consensus within a predetermined time.The correctness of the algorithm is proved using the Lyapunov stability theory,algebraic graph theory and matrix analysis.Simulation comparison experiments verify the feasibility and effectiveness of the proposed algorithm.Compared with the finite-time control algorithm,the convergence time of the proposed algorithm is independent of the initial conditions,and the upper bound of the system convergence time can be set by choosing a time parameter.Compared with the fixed-time control algorithm,the preset convergence time of the proposed algorithm is independent of the control algorithm parameters,which is simple to set,and the estimated convergence time is less conservative.