Guo Yanping, Tian Yun, Ji Yude, Ge Zhen
School of Sciences, Hebei University of Science and Technology, Shijiazhuang, 050018, Hebei, PR China.
School of Sciences, Hebei University of Science and Technology, Shijiazhuang, 050018, Hebei, PR China; School of Architecture, Yanching Institute of Technology, Langfang, 065201, Hebei, PR China.
ISA Trans. 2022 Jul;126:629-637. doi: 10.1016/j.isatra.2021.07.044. Epub 2021 Aug 3.
This paper presents a fixed-time consensus problem for multi-agent systems (MASs) with nonlinear dynamics and uncertain disturbances, the event-triggered strategy is proposed to address this issue. Firstly, based on event-triggered control theory, a fixed-time consensus protocol is proposed, which can avoid continuous communication and greatly reduces the power consumption of proposed protocols. Secondly, based on graph topology, fixed-time control method and Lyapunov theory, the novel fixed-time consensus criteria of MASs with nonlinearity under Lipschitz condition and uncertain disturbances bounds is derived via the designed protocols. Furthermore, the consensus can be guaranteed by setting the proper parameters, it should be pointed out that for any given initial state, the MASs can reach consensus within the setting time. Thirdly, by utilizing the above control strategy, the MASs have no Zeno behavior. Finally, two simulation examples and the practical application of unmanned air vehicles (UAVs) verify the reliability of proposed control scheme.
本文研究了具有非线性动力学和不确定干扰的多智能体系统（MASs）的固定时间一致性问题，提出了事件触发策略来解决该问题。首先，基于事件触发控制理论，提出了一种固定时间一致性协议，该协议可以避免连续通信，并大大降低所提协议的功耗。其次，基于图拓扑、固定时间控制方法和李雅普诺夫理论，通过所设计的协议推导出了在Lipschitz条件和不确定干扰界下具有非线性的MASs的新型固定时间一致性准则。此外，通过设置适当的参数可以保证一致性，需要指出的是，对于任何给定的初始状态，MASs都可以在设定时间内达成一致。第三，利用上述控制策略，MASs不存在芝诺行为。最后，两个仿真例子和无人机（UAVs）的实际应用验证了所提控制方案的可靠性。
