基于非光滑采样控制算法的二阶有向多智能体系统的一致性

针对二阶有向多智能体系统的一致性问题,在连续时间域和离散时间域分别提出一种非光滑控制协议.首先,提出一种连续时间非光滑一致性协议,通过李雅普诺夫理论和齐次系统理论,证明在无扰动情况下可以实现智能体状态的有限时间一致,而在有扰动情况下智能体状态之间的误差将收敛到一个与控制参数和外部扰动相关的范围内;然后,基于采样控制,提出离散非光滑一致性协议,进一步分析采样周期对智能体状态之间误差的影响,并给出误差收敛区间与控制参数、外部扰动和采样周期关系的显性表达式;最后,通过仿真实例验证理论的正确性和有效性.

Consensus of second-order directed multi-agent system based on non-smooth sampled-data control algorithm

A non-smooth control protocol is proposed in the continuous time domain and the discrete time domain respectively for the consensus problem of second-order directed multi-agent systems. Firstly, a continuous-time non-smooth consensus protocol is proposed. By the Lyapunov theory and homogeneous system theory, it is proved that the finite time consensus of agents'' states can be achieved in the absence of external disturbance, and the errors between the agents'' states will converge to a range related to the control parameters and external disturbance in the presence of external disturbance. Then, based on sampled-data control, a discrete-time non-smooth consensus protocol is proposed, and the influence of the sampling period on the errors between agents'' states is further analyzed, and the explicit expression of the influence of external disturbance, control parameters and the sampling period on the errors of any two agents is given. Finally, a simulation example is given to verify the correctness and effectiveness of the proposed theory.