Finite-Time Integral Sliding-Mode Control for Multi-Agent Systems With Mismatched Disturbances
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摘要: 针对动态多智能体系统协同控制问题，本文研究了带有不匹配干扰的二阶多智能体系统的有限时间包容控制，提出了基于非线性积分滑模控制（Integral sliding-mode control，ISMC）的复合分布式包容控制算法.首先利用Lyapunov稳定性和齐次性定理，分析了未受扰系统的有限时间包容控制问题；然后针对存在不匹配干扰的多智能体动态系统，设计非线性有限时间干扰观测器估算智能体的状态和干扰，提出基于干扰观测器的复合分布式积分滑模控制协议，结合现代控制理论和滑模控制理论，研究了带有不匹配干扰的多智能体系统有限时间包容控制问题.最后数值仿真证明了控制算法的有效性.Abstract: In this paper, the finite-time containment control problem is investigated for the second-order multi-agent systems with mismatched disturbances. A composite distributed containment control algorithm is proposed based on nonlinear integral sliding-mode control (ISMC). First of all, by using the Lyapunov stability and the homogeneity property, the finite-time containment control for the systems without disturbances is analyzed. Then for the multi-agent dynamic systems with mismatched disturbances, a nonlinear finite-time disturbance observer is constructed to estimate the states and mismatched disturbances. And then, a composite distributed control protocol is proposed based on disturbance observer. By using the modern control theory and sliding-mode control, the finite-time containment control for multi-agent systems with mismatched disturbances is studied. Finally, numerical simulation results illustrate the effectiveness of the proposed control algorithm.1) 本文责任编委 鲁仁全
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图 4 跟随者与动态领导者的位置关系
Fig. 4 The trajectories of position for the followers and dynamic leaders
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