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讨论了受到外界干扰的多智能体系统在有向拓扑下的分布式有限时间追踪控制.基于系统智能体间的相对状态信息,利用非奇异的终端滑膜控制方法,构造出有效的分布式有限时间控制协议.在控制协议的作用下,系统中跟踪者智能体的状态将在有限时间内跟踪上领导者的状态.最终达到有限时间一致性跟踪控制,并可估计出具体的收敛时间.通过数值仿真,验证了理论结果的正确性.
The distributed finite time tracking control of multi-agent systems subjected to external disturbances under directional topology is discussed.Based on the relative state information of system agents, a non-singular terminal synoptic control method is used to construct an effective distributed finite Time control protocol.Under the control protocol, the state of the tracker agent in the system will track the state of the leader for a limited time, and finally reach the limited time consistency tracking control and estimate the specific convergence time. Numerical simulation verifies the correctness of the theoretical results.