具有通信时延的二阶多智能体系统有限时间一致性跟踪控制

针对具有通信时延的二阶多智能体系统的有限时间一致性控制问题，分别研究了具有固定拓扑和切换拓扑网络结构情形下的二阶多智能体系统的有限时间一致性。为使多智能体系统能在有限时间内可以达到一致，引入一致性控制增益矩阵并设计了相应的基于相对位置和相对速度的时延状态误差有限时间一致性控制算法，利用系统模型转换，泛函微分方程稳定性理论和有限时间Lyapunov稳定性定理得到了使系统在有限时间内达到一致跟踪的最大时延上界值。最后，仿真实验结果验证了所得理论的正确性和有效性。

Finite-time consensus control for the second-order multi-agent systems with communication delays

This paper proposed the finite-time consensus control problem of second-order multi-agent system with communication delays, and discussed the finite-time consensus problem of communication delays in the second-order multi-agent system under fixed topology and switching topology network. In order to achieve the consensus of multi-agent systems in finite time, it introduced a consensus control gain matrix and designed a corresponding finite-time consensus control algorithm based on relative position and relative velocity delay error. It used the system model conversion, the stability theory of functional differential equations and the finite-time Lyapunov stability theorem to obtain. The system reached the upper bound of the maximum delay for consensus tracking in finite time. Finally, the simulation results verify the correctness and effectiveness of the obtained theory.