Design On Consensus Control Algorithm Of Distributed Linear Multi-agent System

Recently, the distributed coordination problem for Multi-agent systems (MAS) hasattracts more and more researchers’ attentions. The study in this field involves many otherfields, and the reason for its rapid development is not only because of its wide applicationin many fields, but also its close relationship with the development of sensor,communication technologies, bionics, and computer. etc. As the core of the distributedcoordination problem of multi-agent systems, the consensus problem certainly has becomethe research focus of control community. In oral terms,“consensus” means to designsuitable method to rend the system states, which researchers care, to reach an agreement.In this paper, we focus on investigating tracking consensus problem for multi-agentsystems with an active leader. This paper mainly includes the following two aspects:Firstly, we focus on the second order finite-time consensus problem of leader-follower multi-agent systems, and design a suitable distributed control law vianon-singular terminal sliding mode control scheme, considering both boundedacceleration and input disturbances. And it’s proved that the new algorithm can guaranteefinite-time consensus under fixed directed topology which contains a spanning tree. Byusing the finite-time Lyapunov stability theorem and graph theory, we obtain the sufficientcondition of finite-time consensus. Finally, simulations are given to verify the robustnessand validity of the proposed algorithm.Secondly, we focus on the high order consensus problem of leader-followermulti-agent systems, and a new distributed control law is designed to ensure the wholesystem states vector can achieve asymptotical consensus, with jointly connected topologyand actuator saturation. The kind of the node dynamics we concerned can be transformedinto a special style. By using matrix theory, and linear system theory, etc, we prove thatour main results is correct. Finally, a simulation example is given to illustrate theeffectiveness of the proposed method.