基于滑模的二阶多智能体快速抗扰一致性

针对带有外部未知扰动的二阶多智能体系统的领导-跟随有限时间一致性问题,本文设计出一种带有时变增益的有限时间干扰观测器,用以实现对每个跟随智能体中未知扰动的快速估计,在此基础上,本文结合超螺旋积分滑模控制方法并利用邻居智能体的位置和速度信息设计一种快速抗扰一致性协议,该协议能够保证存在非线性动态的多智能体系统有限时间一致性控制并能抑制抖振现象.同时,利用李亚普诺夫函数进行了稳定性的证明.最后,通过Matlab数值仿真进一步验证了所提出协议的可行性.

Fast Disturbance Rejection Consensus for Second-order Multi-agent Based on Sliding Mode

In this study, the leader-follower finite-time consensus problem of second-order multi-agent systems with unknown external disturbances is investigated. To address this problem, different from existing works, a novel time-varying finite-time disturbance observer is designed, and a kind of super twisting integral sliding mode control protocol is proposed. Second, using Lyapunov theory and graph theory, it is proved that second-order nonlinear multi-agent systems with unknown disturbances exponentially reach consensus. Finally, a simulation example is included to verify the effectiveness of the theoretical results. The simulation shows that compared with the common sliding mode algorithm, the new protocol can not only reduce the chattering effectively but improve convergence speed.