二阶多智能体系统的有限时间收敛的一致性控制

摘要

This paper studies the second order multi-agent system in the limited time available to realize the convergence of consistency. The article is the main research object of multi-agent system, the system of network topology is no fixed to strongly connected network topology structure, using a leadership with multiple model through the design controller, the theoretical results on the Lyapunov stability theory proof of the time, and finally achieve the second order multi-agent system of the consistency of the finite time control is presented, and the second order multi-agent system limited time consistency of convergence conditions. Finally through the computer to convergence results are Matlab simulation verify that this controller feasible, will be able to realize the limited time of the consistency of the convergence%本文研究了二阶多智能体系统在有限的时间内实现一致性收敛的问题。主要研究对象是多智能体系统，该系统的网络拓扑图是固定的无向强连通网络拓扑结构图，采用一个领导多个跟随的模型，通过设计控制器，对理论结果进行了Lyapunov时间稳定性理论的证明，最终实现了二阶多智能体系统有限时间的一致性控制，并给出了该二阶多智能体系统有限时间内一致性收敛的条件。最后通过计算机对收敛结果进行MATLAB仿真验证，证明此控制器的可行的，能够实现有限时间内的一致性收敛。