Chen Qiang, Zhao Yu, Wen Guanghui, Shi Guoqing, Yu Xinghuo
IEEE Trans Cybern. 2023 Sep;53(9):5970-5983. doi: 10.1109/TCYB.2022.3223894. Epub 2023 Aug 17.
In this article, both the fixed-time distributed consensus tracking and the fixed-time distributed average tracking problems for double-integrator-type multiagent systems with bounded input disturbances are studied. First, a new practical robust fixed-time sliding-mode control method based on the time-based generator is proposed. Second, two fixed-time distributed consensus tracking observers for double-integrator-type multiagent systems are designed to estimate the state disagreement between the leader and the followers under undirected and directed communication, respectively. Third, a fixed-time distributed average tracking observer for double-integrator-type multiagent systems is designed to measure the average value of multiple reference signals under undirected communication. Note that all the proposed observers are constructed with time-based generators and can be trivially extended to that for high-order integrator-type multiagent systems. Furthermore, by combining the proposed fixed-time sliding-mode control method with the information provided by the fixed-time observers, the fixed-time controllers are designed to solve the fixed-time distributed consensus tracking and the distributed average tracking problems. Finally, a few numerical simulations are shown to verify the results.
本文研究了具有有界输入干扰的双积分器型多智能体系统的固定时间分布式一致性跟踪和固定时间分布式平均跟踪问题。首先，提出了一种基于时间生成器的新型实用鲁棒固定时间滑模控制方法。其次，设计了两种双积分器型多智能体系统的固定时间分布式一致性跟踪观测器，分别用于在无向和有向通信下估计领导者与跟随者之间的状态不一致。第三，设计了一种双积分器型多智能体系统的固定时间分布式平均跟踪观测器，用于在无向通信下测量多个参考信号的平均值。请注意，所有提出的观测器均由基于时间的生成器构建，并且可以很容易地扩展到高阶积分器型多智能体系统的观测器。此外，通过将提出的固定时间滑模控制方法与固定时间观测器提供的信息相结合，设计了固定时间控制器来解决固定时间分布式一致性跟踪和分布式平均跟踪问题。最后，给出了一些数值模拟来验证结果。
