带领航者的二阶多智能体系统的有限时间一致性.pdfVIP

Statistics and Application 统计学与应用, 2016, 5(3), 246-262 Published Online September 2016 in Hans. /journal/sa /10.12677/sa.2016.53025 Finite-Time Consensus for Leader-Following Second-Order Multi-Agent Systems Zhichao Li Department of Mathematics, School of Science, Beijing Technology and Business University, Beijing th th th Received: Aug. 30 , 2016; accepted: Sep. 13 , 2016; published: Sep. 20 , 2016 Copyright © 2016 by author and Hans Publishers Inc. This work is licensed under the Creative Commons Attribution International License (CC BY). /licenses/by/4.0/ Open Access Abstract In recent years, with the wide application of distributed networks and multi-agent systems, coor- dination and control problems have become a hot spot of research in related fields. In this paper, the finite-time consensus problems for leader-following second-order multi-agent systems are studied. Firstly, a class of nonlinear finite-time tracking control protocol is proposed, based on state feedbacks containing full information of position and velocity. Secondly, under the fixed and undirected network topology containing a spanning tree, with the help of Lyapunov stability theory and homogeneity theory, we prove that the control protocol enables each agent in the sys- tem to reach an agreement with the leader in finite time. Then, we expand the current protocol. Based on the dynamic output feedback with only relative position information, we propose the corresponding control protocol and prove its finite-time consistency. Finally, using Matlab to si- mulate the two kind of protocol, we prove the effectiveness of our results.