带扰动混杂多智能体系统领导–跟随一致性

本文研究了带扰动混杂多智能体系统领导–跟随一致性问题.给出了带扰动且含有非线性项的混杂多智能体系统模型.为了解决扰动和非线性项问题对系统带来的影响,本文基于等效趋近律设计了混杂多智能体系统的滑模控制协议,该控制协议包含连续时间智能体与离散时间智能体的运动状态信息.对混杂多智能体系统设计了Lyapunov函数,给出该系统实现领导–跟随一致性的充分条件,并证明了滑模控制协议下混杂多智能体系统可以实现领导–跟随一致性.最后,通过MATLAB仿真验证了所提方法的有效性.

Leader-follower consensus of hybrid multi-agent systems with disturbances

In this paper, the problem of leader-follower consensus of hybrid multi-agent system with disturbances is studied. Hybrid multi-agent system model with disturbances and nonlinear term are given in this paper. In order to solve the disturbances and nonlinear term problems on the system, the sliding mode control protocols for the hybrid multi-agent system are designed based on the equivalent approaching law, and the control protocols contain the state information of continuous-time dynamic agent and discrete-time dynamic agent. Lyapunov functions are designed for hybrid multi-agent system, and sufficient conditions for the system to achieve leader-follower consensus are given, and then the leader-follower consensus of the system is proved under the sliding mode control protocols. Finally, the effectiveness of the method is verified by MATLAB simulation.