Finite-time Rotating Consensus And Formation Control For Multi-agent Systems Based On Leader-follower Approach

Multi-agents rotating motion is extremely versatile and attracts much attention in energy exploration,pollution source search,military and aviation.Especially,finite-time rotating motion has more practical application value.This thesis introduce the research background of the consensus problem,the finite-time control problem and the formation control problem in this thesis as well as the related theory introduction needed by the full text.The main contents of this thesis are as follows:1.Based on the second-order finite-time consensus control problem of the leading-following method,the acceleration of the centripetal acceleration is added to enable the multi-agents to finish the rotating consensus motion around the common center in a finite time.In the first part,we consider the position and speed of the agents under the directed graph are measurable.The second part considers the situation where each agent's velocity and relative velocity can't be measured under the undirected graph,and adds auxiliary variables to estimate the relative velocity.The third part considers velocity and the relative states can't be measured by using the observer to complete the control under single and multiple leaders.2.Based on the finite-time formation control problem,in the first part,we consider the second-order finite-time formation control problems with multi-leaders and multi-followers in Cartesian coordinates.The second part considers the second-order finite-time circular formation control problem with multi-leaders and multi-followers in polar coordinates.At the same time,three objectives are achieved for finite-time control:all agents rotate around the common center at the same angular velocity;the leaders shapes and maintains the desired shape(circular formation);the follower will finally converge to a convex hull.The third part is based on the formation control of nonholonomic motion,which enables the formation's center to track the ideal motion curve in finite-time,and compares the convergence of the finite-time formation and the asymptotic consensus stability formation under nonlinearity.