引用本文:孙新勇,吴杰,侯至丞,张弓,杨文林,韩彰秀.输入饱和约束下多智能体的有限时间一致[J].控制理论与应用,2020,37(11):2391~2397.[点击复制]
SUN Xin-yong,WU Jie,HOU Zhi-cheng,ZHANG Gong,YANG Wen-lin,HAN Zhang-xiu.Finite-time consensus of multi-agent systems with input saturation constraints[J].Control Theory and Technology,2020,37(11):2391~2397.[点击复制]
输入饱和约束下多智能体的有限时间一致
Finite-time consensus of multi-agent systems with input saturation constraints
摘要点击 2094  全文点击 906  投稿时间：2020-01-03  修订日期：2020-06-01
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DOI编号  10.7641/CTA.2020.00005
  2020,37(11):2391-2397
中文关键词  有限时间收敛  输入饱和  多智能体  一致性  跟踪控制
英文关键词  finite-time convergence  input saturation  multi-agent systems  consensus  tracking control
基金项目  中国博士后科学基金面上项目(2019M662848), 广东省自然科学基金项目(2018A030310046, 2016A030313463)资助.
作者单位邮编
孙新勇 华南理工大学机械与汽车工程学院 510640
吴杰 华南理工大学机械与汽车工程学院 
侯至丞* 广州中国科学院先进技术研究所 511458
张弓 广州中国科学院先进技术研究所 
杨文林 广州中国科学院先进技术研究所 
韩彰秀 广州中国科学院先进技术研究所 
中文摘要
      为解决多智能体系统在有限时间跟踪控制过程中受输入饱和影响的问题, 本文研究了输入饱和约束下的 二阶线性多智能体系统的有限时间一致和跟踪控制. 首先在无向通信拓扑下, 利用齐次函数, 设计了基于单饱和函 数的有限时间一致和跟踪控制器. 然后, 应用李雅普诺夫稳定性理论和代数图论等方法证明了控制算法的稳定性. 最后, 给出了能够使多智能体系统实现有限时间一致和跟踪的充分条件. 仿真结果验证了当系统存在输入饱和约束 时, 控制器能使多智能体在有限时间内完成跟踪任务.
英文摘要
      In order to solve the problem of multi-agent systems subject to input saturation in the finite-time tracking control process, this paper studies the finite-time consensus and tracking control of the second-order linear multi-agent systems subject input saturation constraints. Firstly, in a undirected communication topology, a homogeneous function is used, finite-time consensus and tracking protocols are proposed based on single saturation function. Then, the stability of the control algorithm is proven by using Lyapunov’s stability theory and algebraic graph theory. Finally, sufficient conditions are given to enable multi-agents system to achieve consensus and tracking in finite time. Simulation results show that the protocol can complete the tracking task in finite time when multi-agent systems subject to input saturation.