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《山东大学学报(理学版)》 ›› 2023, Vol. 58 ›› Issue (12): 167-176.doi: 10.6040/j.issn.1671-9352.0.2022.310

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高阶时滞多智能体系统的固定时间一致性控制

邱进鹏1,2(),李宗刚1,2,*(),陈引娟1,2,杜亚江1,2   

  1. 1. 兰州交通大学机电工程学院, 甘肃 兰州 730070
    2. 兰州交通大学机器人研究所, 甘肃 兰州 730070
  • 收稿日期:2022-05-30 出版日期:2023-12-20 发布日期:2023-12-19
  • 通讯作者: 李宗刚 E-mail:1264505570@qq.com;lizongg@126.com
  • 作者简介:邱进鹏(1993—), 男, 硕士研究生, 研究方向为多智能体系统一致性控制. E-mail: 1264505570@qq.com
  • 基金资助:
    兰州交通大学“百人计划”资助项目(1520220305);甘肃省教育厅优秀研究生“创新之星”项目(2022CXZX-574)

Fixed-time consensus control for high-order multi-agent systems with input delay

Jinpeng QIU1,2(),Zonggang LI1,2,*(),Yinjuan CHEN1,2,Yajiang DU1,2   

  1. 1. School of Mechanical Engineering, Lanzhou Jiaotong University, Lanzhou 730070, Gansu, China
    2. Institute of Robotics, Lanzhou Jiaotong University, Lanzhou 730070, Gansu, China
  • Received:2022-05-30 Online:2023-12-20 Published:2023-12-19
  • Contact: Zonggang LI E-mail:1264505570@qq.com;lizongg@126.com

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摘要：

为了研究输入滞后和外部干扰影响下的多智能体系统的固定时间一致性控制问题, 提出基于Pade近似一致性误差的领导跟随一致性控制方法。首先, 为跟随者设计分布式观测器以获得领导者的状态信息; 其次, 利用Pade近似方法, 引入时滞虚拟变量, 将时滞一致性误差转化为无时滞一致性误差, 并基于动态增益控制方法设计系统的分布式动态控制协议, 利用固定时间稳定性理论得到系统实现固定时间一致性的充分条件和收敛时间的上界; 最后, 通过仿真实验验证理论结果的正确性。

关键词: 高阶多智能体系统, 领导跟随一致性, 固定时间控制, 输入滞后

Abstract:

To study the fixed-time consensus control problem of multi-agent system under the influence of input delay and external interference, a leader-following consensus control method based on Pade approximate consensus error is proposed. Firstly, a distributed observer is designed for followers to obtain leader's state information. Secondly, by using the Pade approximation method and introducing the delay dummy variable, the delay consensus error is transformed into the delay-free consensus error, and the distributed dynamic control protocol is designed based on the dynamic gain control method. By using the fixed-time stability theory, the sufficient conditions for the system to achieve fixed-time consensus and the upper bound of convergence time are obtained. Finally, the correctness of the theoretical results is verified by simulation experiments.

Key words: high-order multi-agent system, leader-following consensus, fixed-time control, input delay

中图分类号: 

  • TP13

图1

信息交互拓扑图"

图2

观测误差轨迹图"

图3

一致性误差轨迹图"

图4

动态参数轨迹图"

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