多智能体系统的非光滑二阶一致性协议

摘要

针对二阶积分器多智能体系统,提出了一类非光滑一致性协议设计方法.首先,基于反步设计方法,将速度看成虚拟控制量,并设计虚拟速度,使得状态一致性可以渐近达到.然后,基于有限时间控制方法设计控制律使得真实速度在有限时间内跟踪上虚拟速度.该控制律使得:当系统不存在外部扰动时,一致性可以渐近达到;当系统存在外部扰动时,任意两个智能体间的稳态误差渐近收敛到原点附近的一个小邻域内.仿真结果表明了该方法的有效性.%For multi-agent systems described by double integrators, this paper proposes a new nonsmooth consensus protocol. Firstly, based on the backstepping control method, the velocity is regarded as a virtual input and designed such that states consensus can be achieved asymptotically. Secondly) based on finite-time control technique, a finite-time control law is designed such that the virtual velocity can be tracked by the real velocity in a finite time. Under the proposed control law, it is proven that the states consensus can be achieved asymptotically in the absence of disturbances. In the presence of disturbances, the steady-state errors of any two agents can reach a small region around the origin. Simulation results are provided to demonstrate the effectiveness of the method.