Finite-time Consensus Control For Second-order Multi-agent System With Leaders

With the rapid development of Internet technology,5G communication technology,big data technology,cloud computing technology and artificial intelligence technology,multi-agent systems belonging to the category of artificial intelligence have been widely used in maritime escorts,unmanned fleets,football robots and other fields.To control a multi-agent system is to design a suitable controller and apply the designed controller to the multi-agent system,so that the multi-agent system can achieve the expected consensus state.In a multi-agent system with multiple leaders,in order to achieve finite-time containment consensus control of followers,firstly,the followers in the multi-agent system can be converged to t leader's convex hull in finite-time by designing an inclusive controller.,then design a suitable finite-time consensus controller,and after all followers in the multi-agent system move to the leader's convex hull,switch the containment controller to a finite-time consensus controller,And finally achieve containment consensus control of followers in finite-time.In a multi-agent system with a leader,taking into account the influence of interference and uncertainty on the stability of the multi-agent system,it is possible to design a controller by using backstepping and adaptive parameter methods,the finite-time consensus controller can be adjusted in real time according to the state information of the multi-agent system enables the followers in the multi-agent system to track the leaders in finite-time.The core content of this article is mainly divided into two parts.The first part is based on the piecewise function method to design a piecewise controller to study and analyze a multi-agent system with multiple leaders;the second part,it is based on adaptive parameters methods,the multi-agent system with a leaders is researched and discussed.The detailed research work is as follows:(1)Aiming at the finite-time containment consensus control problem of the multi-agent system with multiple leaders,respectively design the containment consensus controllers in the form of piecewise function,For multi-agent systems with knowable and unknowable speed information and uncertain multi-agent systems with knowable and unknowable speed information,the finite-time containment consensus control is achieved,And through the homogeneous finite-time stability theorem,it is proved that the piecewise function controller can realize the piecewise control of the followers.Before the segmentation time,it can realize the finite-time containment control of the followers,and can realize the finite-time containment control of the followers after the segmentation time.(2)Aiming at the finite-time consensus control problem of the second-order multi-agent system with a leader,considering the influence of interference and uncertainty on the consensus of the system,a novel consensus tracking is designed by using the backstepping method,the controller realizes the finite-time consensus control of the uncertain multi-agent system with interference.However,through simulation experiments,it is found that the controller has a large peak phenomenon in the control process,and then the adaptive parameter method is introduced.The controller is optimized and improved,and the finite-time stability theorem proves that the followers in the second-order multi-agent system can achieve consensus convergence in finite-time,and it can also track the leader in finite-time.