| 引用本文: | 孙新勇,吴杰,侯至丞,张弓,杨文林,韩彰秀.输入饱和约束下多智能体的有限时间一致[J].控制理论与应用,2020,37(11):2391~2397.[点击复制] |
| SUN Xin-yong,WU Jie,HOU Zhi-cheng,ZHANG Gong,YANG Wen-lin,HAN Zhang-xiu.Finite-time consensus of multi-agent systems with input saturation constraints[J].Control Theory and Technology,2020,37(11):2391~2397.[点击复制] |
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| 输入饱和约束下多智能体的有限时间一致 |
| Finite-time consensus of multi-agent systems with input saturation constraints |
| 摘要点击 2491 全文点击 1077 投稿时间：2020-01-03 修订日期：2020-06-01 |
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| DOI编号 10.7641/CTA.2020.00005 |
| 2020,37(11):2391-2397 |
| 中文关键词 有限时间收敛 输入饱和 多智能体 一致性 跟踪控制 |
| 英文关键词 finite-time convergence input saturation multi-agent systems consensus tracking control |
| 基金项目 中国博士后科学基金面上项目(2019M662848), 广东省自然科学基金项目(2018A030310046, 2016A030313463)资助. |
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| 中文摘要 |
| 为解决多智能体系统在有限时间跟踪控制过程中受输入饱和影响的问题, 本文研究了输入饱和约束下的
二阶线性多智能体系统的有限时间一致和跟踪控制. 首先在无向通信拓扑下, 利用齐次函数, 设计了基于单饱和函
数的有限时间一致和跟踪控制器. 然后, 应用李雅普诺夫稳定性理论和代数图论等方法证明了控制算法的稳定性.
最后, 给出了能够使多智能体系统实现有限时间一致和跟踪的充分条件. 仿真结果验证了当系统存在输入饱和约束
时, 控制器能使多智能体在有限时间内完成跟踪任务. |
| 英文摘要 |
| In order to solve the problem of multi-agent systems subject to input saturation in the finite-time tracking
control process, this paper studies the finite-time consensus and tracking control of the second-order linear multi-agent
systems subject input saturation constraints. Firstly, in a undirected communication topology, a homogeneous function is
used, finite-time consensus and tracking protocols are proposed based on single saturation function. Then, the stability
of the control algorithm is proven by using Lyapunov’s stability theory and algebraic graph theory. Finally, sufficient
conditions are given to enable multi-agents system to achieve consensus and tracking in finite time. Simulation results
show that the protocol can complete the tracking task in finite time when multi-agent systems subject to input saturation. |
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