基于牵制控制的多智能体系统的有限时间与固定时间一致性  

Finite-Time and Fixed-Time Consensus for Multi-Agent Systems via Pinning Control

作　　者：赵玮 任凤丽 ZHAO Wei;REN Fengli(Department of Mathematics,Nanjing University of Aeronautics and Astronautics,Nanjing 211100,P.R.China)

机构地区：[1]南京航空航天大学数学系,南京211100

出　　处：《应用数学和力学》2021年第3期299-307,共9页Applied Mathematics and Mechanics

基　　金：国家自然科学基金(61104031)。

摘　　要：主要研究了在有限时间与固定时间内,牵制多智能体系统到异质目标节点的问题.通过设计非连续的控制协议和两种有效的牵制方案,使得一群有向协作个体在有限时间内或者固定时间内与目标节点达到一致.利用微分包含、集值映射及Lyapunov稳定性理论,给出了多智能系统达到有限时间一致性和固定时间一致性的充分条件.最后,通过数值仿真验证了所得条件的有效性.The finite-time and fixed-time consensus of multi-agent systems with bounded unknown acceleration was studied.Problems of double integrator dynamics under a leader with bounded unknowns were considered.Firstly,the protocol of pinning control was proposed.Then with the Lyapunov stability theory and the Filippov differential equations with discontinuous right hand sides,the sufficient conditions were provided to guarantee multi-agent consensus in finite time and fixed time.Finally,the numerical simulation of pinning consensus of multi-agent systems illustrates the effectiveness of the conditions.

关 键 词：多智能体 牵制控制 有限时间 一致性 有向网络 

分 类 号：O357.41[理学—流体力学]