Abstract:

This paper is concerned with the nonchattering fixed-time consensus of multi-agent systems. Based on the theory of Lyapunov stability, sufficient conditions are derived for achieving consensus within the fixed time, where the estimation of upper bounded time is independent on the initial states. Furthermore, distinguished from the traditional signum contained in finite- and fixed-time control protocol, the proposed novel control scheme is nonchaterring, which is benefit to the performance of multi-agent systems. Finally, a numerical example is used to validate the effectiveness and feasibility of the theoretical results.

Key words: multi-agent, consensus, fixed-time, nonchattering

摘要：

研究了多智能体系统的非震颤固定时间一致性问题。基于李雅普诺夫稳定性理论，导出了实现固定时间一致性的充分条件，其中到达一致时间的上界估计不再依赖于多智能体系统的初始状态条件。此外，与传统含有符号函数的有限时间和固定时间控制器不同的是，所提出的新颖控制方案是非震颤的，有利于多智能体系统的一致性性能表征。最后，用一个数值例子验证了理论分析结果的有效性和可行性。

关键词: 多智能体, 一致性, 固定时间, 非震颤