Fan Huijin, Zheng Kanghua, Liu Lei, Wang Bo, Wang Wei
IEEE Trans Cybern. 2022 May;52(5):3783-3793. doi: 10.1109/TCYB.2020.3014240. Epub 2022 May 19.
In this article, for second-order multiagent systems with uncertain disturbances, the finite-time leader-follower consensus problem has been investigated. First, by considering that the leader's states are only available to part of the followers, a distributed estimator is constructed to estimate the state tracking errors between the leader and each follower. Then, an estimator-based control scheme is proposed under the event-triggered strategy to achieve finite-time leader-follower consensus. Besides, the event-triggered intervals are with a positive lower bound such that the Zeno behavior can be avoided. Note that the system is discontinuous under the event-triggered mechanism; thus, a nonsmooth analysis is performed. Numerical simulations are presented to demonstrate the effectiveness of our theoretical results.
在本文中，针对具有不确定干扰的二阶多智能体系统，研究了有限时间领导者-跟随者一致性问题。首先，考虑到领导者的状态仅对部分跟随者可用，构造了一个分布式估计器来估计领导者与每个跟随者之间的状态跟踪误差。然后，在事件触发策略下提出了一种基于估计器的控制方案，以实现有限时间领导者-跟随者一致性。此外，事件触发间隔具有正的下界，从而可以避免芝诺行为。注意，在事件触发机制下系统是不连续的；因此，进行了非光滑分析。给出了数值仿真以验证我们理论结果的有效性。
