Fixed-time consistency tracking method for high-order multi-agent systems based on directed topology

Abstract

The present invention relates to a fixed-time leader-follower consistency control method for a high-order multi-agent system based on directed communication topology, including: (1) designing a fixed-time distributed high-order observer so that each follower can Obtain the state information of the leader through time observation; (2) Give an estimate of the upper bound of the observation time; (3) Design a series of fixed-time terminal sliding mode surfaces, and derive the terminal sliding mode control law, so that each state of the follower can be controlled at a fixed time. Track the trajectory of the upper leader in time; (4) Give an estimate of the upper bound of the consistency time. The controller gain can be obtained directly from the pre-specified time, which helps to determine and adjust the control gain according to the convergence time requirement; and the proposed leader-follower consensus control protocol reduces the conservatism of the upper bound estimation of the convergence time, which at the same time It also reduces the conservatism of control gain design when designing control gains based on convergence time requirements.

Description

technical field [0001] The invention relates to the technical field of multi-agent system consistency control, in particular to a high-order multi-agent system consistency tracking control method at fixed time based on directed communication topology. Background technique [0002] As a multi-agent system group behavior, consensus tracking is also called leader-follower consistency, which means that followers can track the trajectory specified by the leader. In recent years, consistent tracking has been widely used, such as secondary frequency and voltage control of microgrids, economic dispatch of smart grids, robot coordination, autonomous underwater vehicle formation, and spacecraft attitude coordination. [0003] In the design of consistency tracking protocol, fast convergence is always pursued. Related studies have shown that the convergence can be accelerated by choosing a better communication topology or designing optimal weights. However, these protocols can only ac...

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Problems solved by technology

However, it is difficult to extend the existing fixed-time consensus control protocols to high-order multi-agent systems, and many challenging problems need to be solved, such as how to design a controller so that all states converge to the leader trajectory, how to overcome Singularity problem, how to estimate the upper bound of the convergence time from the designed controller

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