基于终端滑模控制的多智能体系统有限时间跟踪控制  

Finite-time tracking control of multi-agent systems via terminal sliding mode control

作　　者：朱伟[1] 周双 ZHU Wei;ZHOU Shuang(Key Laboratory of Intelligent Analysis and Decision on Complex Systems,Chongqing University of Posts and Telecommunications,Chongqing 400065,P.R.China)

机构地区：[1]重庆邮电大学复杂系统智能分析与决策重庆市高校重点实验室,重庆400065

出　　处：《重庆邮电大学学报（自然科学版）》2023年第4期696-705,共10页Journal of Chongqing University of Posts and Telecommunications(Natural Science Edition)

基　　金：国家自然科学基金项目(61673080);重庆市教育委员会科学技术研究项目(KJZD-K202000601);重庆市科技局英才计划项目(cstc2021ycjh-bgzxm0044)。

摘　　要：针对有向拓扑结构下带领导者的非线性二阶多智能体系统,基于终端滑模控制策略,研究其有限时间一致性跟踪问题;利用快速积分型终端滑模控制理论与有限时间稳定性理论,设计了一类分布式有限时间一致跟踪控制协议,以确保多智能体系统中跟随者对动态领导者的跟踪。提出的控制协议可以使多智能体系统的状态在有限时间内到达并停留在设计的滑模面上,并且能有效削弱抖振。通过数值仿真,验证了所获得的理论结果的有效性。The finite-time consensus tracking problem of nonlinear leader-following second-order multi-agent systems is discussed via terminal sliding mode control strategy in this paper.Based on fast integral terminal sliding mode control theory and finite-time stability theory,a distributed tracking control algorithm is designed to ensure that followers can track the leader in finite-time.With the designed control algorithm,it is possible to make the states of multi-agent systems arrive and remain on the designed sliding mode surface in finite-time,and effectively attenuate the chatting.The numerical simulations illustrate the reliability of the obtained theoretical results.

关 键 词：有限时间 跟踪控制 领导-跟随 终端滑模控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]