Research Of Finite-Time Consensus Of Multi-Agent Systems Under Directed Communication Topology

Coordination in networked multi-agent systems attracts significant interest in the realm of engineering.Typical examples include formations of unmanned aerial vehicles,automated highway systems,and sensor networks.One common feature for these systems is that coordinated behaviors are exhibited by interactions among agents where information exchange and manipulation are necessary.In recent years,the problem of consensus as the basis of coordinated control between multiple agents has become a hot topic in the field of control.Considering practical problems,some systems require finite time to converge to a consistent state,as well as a faster convergence rate,stronger anti-jamming,and robustness of uncertainty than the asymptotic consensus controller.So the limited time consistency has more research value.Finite-time consensus refers to the fact that in multi-agent systems for certain state,the agents tend to be the same in finite-time,while the finite-time consensus algorithm refers to the information obtained in the multi-agent systems based on the neighbors,multi-agents make corresponding responses to arrive at consensus algorithms in finite time state quantities.In this thesis,we solve the finite time consensus problem of multi-agent systems in directed communication topology by using common the finite-time consensus protocol.The main contents of the study include the following aspects:Firstly,for the leader-following and leaderless first-order system,a finite time consensus protocol is used,the new Lyapunov function respectively is proposed to solve the finite-time consensus problem of the multi-agent systems under the directed communication topology.Secondly,for the leader-following and leaderless second-order system,a finite time consensus protocol is used,the new Lyapunov function respectively is proposed to solve the finite-time consensus problem of the multi-agent systems under the directed communication topology.Then,for the leader-following high-order system,the new Lyapunov function is proposed to solve the finite-time consensus problem of the multi-agent systems in the directed communication topology.However,considering the external disturbances in practice,the finite-time consensus problem is solved by introducing the finite time ISM.