基于滑模控制的多智能体系统指定时间一致性  

Prescribed-Time Consensus of Multi-Agent Systems with Sliding Mode Control

作　　者：李雪 于志永[1] 蒋海军[1] 陈思宇 LI Xue;YU Zhiyong;JIANG Haijun;CHEN Siyu(School of Mathematics and System Sciences,Xinjiang University,Urumqi Xinjiang 830017,China)

机构地区：[1]新疆大学数学与系统科学学院,新疆乌鲁木齐830017

出　　处：《新疆大学学报（自然科学版）（中英文）》2022年第5期542-549,共8页Journal of Xinjiang University(Natural Science Edition in Chinese and English)

基　　金：国家自然科学基金(62003289,62163035);天池博士项目(TCBS201803);天山创新团队项目(2020D14017)。

摘　　要：基于滑模控制理论研究了一阶多智能体系统的指定时间一致性问题.首先,在无向网络拓扑下设计了新型的积分滑模面并提出了新的控制协议.利用Lyapunov稳定理论和不等式放缩技巧,得到多智能体系统在指定时间内达到滑模面并实现一致的相关条件.其次,研究了有向拓扑上一阶多智能体系统的指定时间一致性.最后,给出两个数值算例来验证理论结果的有效性.In this paper,the prescribed-time consensus problem of first-order multi-agent systems(MASs)is studied based on sliding mode control theory.Firstly,a new integral sliding mode surface is designed and a new control protocol is proposed for undirected network topologies.According to the Lyapunov stability theory and the inequality technique,some conditions for the MASs to reach the sliding mode surface and achieve consensus in prescribed-time are obtained.Secondly,the prescribed-time consensus of first-order MASs on directed network topologies is investigated.Finally,two numerical examples are given to verify the validity of the theoretical results.

关 键 词：多智能体系统 一致性 滑模控制 指定时间 

分 类 号：O231.5[理学—运筹学与控制论]