领导-跟随多智能体系统有限时间一致性

摘要

针对领导-跟随一阶多智能体系统在无向网络下的快速一致性问题,提出了一种基于总体代价函数梯度的快速有限时间一致性跟踪算法,并对一致性算法进行了理论分析.利用图论和李雅普诺夫有限时间稳定性理论,证明了当通信拓扑固定连通时,有限时间一致性算法可保证多智能体系统在有限的时间内快速的实现一致性跟踪.最后通过大量的仿真实例和与传统方法的对比分析,验证了改进算法的优越性.%For leader-following first-order multi-agent systems under undirected network,a novel fast finite-time consensus tracking algorithm based on the gradient algorithm of the overall cost function is proposed,which gives the theoretical analysis on the proposed algorithm.Based on graph theory and Lyapunov stability theory,the finite-time consensus algorithm guarantees that the multi-agent systems reach the fast finite-time consensus tracking with the fixed communication topologies.Finally,the superiority of the proposed algorithm is verified by a large number of simulation examples and comparison with traditional methods.