导　　师： 李俊民

学科专业： 070105

授予学位： 硕士

作　　者： ;

机构地区： 西安电子科技大学

摘　　要： 近年来,多智能体分布式协作问题已经受到了来自很多学科研究人员的关注.这主要是因为它在很多方面有着广泛的应用.一致性问题作为多智能体系统分布式协作控制的基础,已成为控制学界的一个研究热点.在多智能体系统中,“一致性”是指系统中所关心的信息状态趋于相同,而“一致性算法”是使该信息状态达到相同的算法.本文主要关注带有领导者的多智能体系统的有限时间一致性问题.根据领导者的不同性质,一致性问题可分为两类:带真实领导者的跟踪一致性问题和带虚拟领导者的跟踪一致性问题. 本文的工作主要包括以下几个方面: 第一,主要讨论带有领导者的二阶线性动态多智能体系统中存在有界输入干扰下的的主-从节点有限时间跟踪一致性问题.主要利用Terminal滑模控制理论来设计控制律.在假定领导者/(主节点/)是动态的且其信息只被其邻居可知的情况下,设计一个新的Terminal滑模超平面保证在固定拓扑结构下的有限时间一致性.通过有限时间Lyapunov稳定性理论,得到了有限时间一致性的充分条件.最后,利用仿真实例验证了控制算法的鲁棒性和有效性. 第二,主要讨论在固定拓扑结构下带有领导者的一般n阶线性动态多智能体系统中存在有界系统不确定项下的主-从节点有限时间跟踪一致性问题.在假定动态领导者/(主节点/)的信息只被其邻居可知的情况下,利用Terminal滑模控制理论来设计控制律.构造Terminal滑模超平面,使得在滑模超平面上跟踪误差能够在有限时间内收敛到零.通过使用有限时间Lyapunov稳定性理论,得到了有限时间一致性的充分条件.最后,通过仿真实例验证了控制算法的有效性. Recently, the multi-agent distributed coordination problem has attracted many researchers from different disciplines. This is because that it can be widely utilized in many fields. As the basis of the distributed coordination problem for multi-agent systems, the consensus problem has become the research focus of control community. In multi-agent systems,“consensus”means to reach an agreement regarding a certain quantity of interest that depends on the state of all agents. A“consensus algorithm”is an interaction rule specifies the information interaction among all dynamical agents. In this paper, we focus on investigating finite-time consensus problem for multi-agent systems with a leader. According to the differences properties of the leader, leader-follower consensus problems can be categorized as leader-follower consensus problems with a real leader and leader-follower consensus problems with a virtual leadeTr.h is paper mainly includes the following aspects: Firstly, we study the leader-follower finite-time consensus control of multi-agent systems with second order linear node dynamics and input disturbances. Terminal sliding mode control scheme is used to design the control law. A new terminal sliding mode surface is proposed to guarantee finite-time consensus under fixed topology, with the common assumption that the active leader is known to its neighbors only. By using the finite-time Lyapunov stability theorem, we obtain the sufficient condition of finite-time consensus. Finally, a simulation example is given to verify the robustness and validity of the proposed method. Secondly, we study the leader-follower finite-time consensus problem of multi-agent systems with system uncertainties and a time-invariant communication topology consisting of general linear node dynamics. Terminal sliding mode control scheme is used to design the control law. By building a sliding mode surface we can make the tracking error converge to zero on the siding mode surface in finite time. By using the finite-ti

关 键 词： 多智能体 领导者 追随者 有限时间一致性 滑模控制 函数

领　　域： [理学] [理学]