论文标题
高阶多代理系统的预定时间共识
Predefined-Time Consensus of High-Order Multi-Agent Systems
论文作者
论文摘要
本文讨论了一类高阶多代理系统（MASS）的分布式规定的时间遵循共识问题，该系统具有扰动的非线性代理动力学，网络的拓扑包含一个有向的跨越树，并带有领导者为根。规定的时间共识意味着MAS的协议状态是在预设的时间内以控制法的参数引入的，并且这种恒定的结算时间是独立于代理人的初始状态实现的。提出的控制方法具有三个主要优点：首先，据我们最大的了解，这是使用强大的领导者遵循方案的高阶非线性动力学的代理人首次达到共识问题中的规定时间收敛，这允许在试剂模型中有效拒绝匹配干扰的模型。其次，所提出的控制器提供的控制信号低于现有方法。第三，根据所考虑的通信图的连通性，提出的共识协议没有进行调整的参数。
This paper addresses the distributed prescribed-time leader-following consensus problem for a class of high-order multi-agent systems (MASs) with perturbed nonlinear agents dynamics and where the topology of the network contains a directed spanning tree, with the leader as the root. Prescribed-time consensus means that an agreement state of the MAS is achieved in a preset time, introduced as a parameter of the control law, and this constant settling time is achieved independently of the agents' initial state. The proposed control method exhibits three main advantages: first, to our best knowledge, it is the first time that prescribed-time convergence in a consensus problem is achieved for agents with high-order nonlinear dynamics, using a robust leader-following protocol, which allows an effective rejection of matched disturbances in the agents' model. Second, the proposed controller provides control signals of lower magnitude than existing approaches. Third, the proposed consensus protocol does not have parameters to be adjusted depending on the connectivity of the considered communication graph.
