多智能体系统的有限时间包含控制研究

Distributed finite-time containment control for multi-agent systems

摘要:

在固定有向拓扑结构下,研究了具有多个静态或动态领导者的多智能体有限时间包含控制问题。假设领导者之间不存在信息的交互,提出基于快速终端滑模的控制算法,该算法驱使跟随者的运动轨迹在有限时间收敛到由领导者组成的凸包中。进一步,考虑实际应用中跟随者状态不能在线获得的情况,提出基于有限时间观测器的包含控制协议。利用图论和Lyapunov有限时间稳定性理论,给出了有限时间包含控制的充分条件。最后通过仿真实例,验证了算法的有效性。

Abstract:

Under the fixed directed topology, this paper studies the finite-time containment control problems of multi-agent systems with multiple static or dynamic leaders. Assuming that there is no information interaction between leaders, a control algorithm based on fast terminal sliding mode is proposed, which drives the followers" motion trajectories to converge to the convex hull composed of leaders in a finite time. Moreover, considering the fact that leader’s velocity can not obtained online in practiced applications, observer based finite-time containment algoriths are given. By using graph theory and Lyapunov stability theory, sufficient conditions of finite-time containment control are derived. Finally, simulation examples are given to illustrate effectiveness of the proposed algorithms.