论文标题
双整合器多代理系统的固定时间合作跟踪控制：基于时间的生成器方法
Fixed-Time Cooperative Tracking Control for Double-Integrator Multi-Agent Systems: A Time-Based Generator Approach
论文作者
论文摘要
在本文中，分别研究了具有有界输入干扰的双积分型多代理系统的固定时间分布式共识跟踪和固定时间分布式跟踪问题。首先，提出了一种基于基于时间的生成器的新实用的稳健固定时间滑动模式控制方法。其次，针对双集成仪型多代理系统的固定时间分布式跟踪观察者旨在估算领导者与未指向和有向通信的追随者之间的状态分歧。第三，双积分型多代理系统的固定时间分布式跟踪观察者旨在衡量在无向通信下参考信号的平均值。请注意，分布式共识跟踪和分布式平均跟踪的观察者均基于基于时间的生成器设计，并且可以扩展到高阶多代理系统的琐碎。此外，通过将固定时间滑动模式控制与固定时间观察者梳理，固定时间控制器旨在解决分布式共识跟踪和分布式平均跟踪问题。最后，显示了一些数值模拟来验证结果。
In this paper, both the fixed-time distributed consensus tracking and the fixed-time distributed average tracking problems for double-integrator-type multi-agent systems with bounded input disturbances are studied, respectively. Firstly, a new practical robust fixed-time sliding mode control method based on the time-based generator is proposed. Secondly, a fixed-time distributed consensus tracking observer for double-integrator-type multi-agent systems is designed to estimate the state disagreements between the leader and the followers under undirected and directed communication, respectively. Thirdly, a fixed-time distributed average tracking observer for double-integrator-type multi-agent systems is designed to measure the average value of reference signals under undirected communication. Note that both the observers for the distributed consensus tracking and the distributed average tracking are devised based on time-based generators and can be extended to that of high-order multi-agent systems trivially. Furthermore, by combing the fixed-time sliding mode control with the fixed-time observers, the fixed-time controllers are designed to solve the distributed consensus tracking and the distributed average tracking problems. Finally, a few numerical simulations are shown to verify the results.
