摘要
针对有向拓扑结构下具有非线性动力学和未知干扰的多智能体系统,研究了固定时间包含控制问题(假设智能体之间的通信拓扑是有向的,跟随者还受到未知干扰的影响)。基于代数图论、矩阵理论和固定时间稳定性理论,证明了所提出的控制协议可以解决固定时间包含控制问题。最后,通过仿真实例,证明了理论结果的有效性。
In view of multi-agent systems with nonlinear dynamics and unknown disturbances under directed topology,a research has thus been conducted on the fixed time containment control,assuming that the communication topology between agents is directed,with the follower also affected,by unknown disturbances.Based on algebraic graph theory,matrix theory and fixed-time stability theory,it is proved that the proposed protocol can solve the containment control in fixed time.Finally,the effectiveness of the theoretical results can be verified by a simulation example.
作者
余湛
唐朝君
谢挺
YU Zhan;TANG Zhaojun;XIE Ting(College of Science,Chongqing University of Technology,Chongqing 400054,China)
出处
《湖南工业大学学报》
2022年第3期95-100,共6页
Journal of Hunan University of Technology
基金
重庆市基础与前沿研究计划基金资助项目(cstc2019jcyj-msxmX0491)。
关键词
固定时间一致性
包含控制
非线性系统
未知干扰
多智能体系统
fixed-time consensus
containment control
noninear dynamics
uncertain disturbance
multiagent system
