Research On The Finite-time Consensus Of Multi-agent

In recent years,AI technology has been fully concerned and developed.As a branch of artificial intelligence,the Multi-agent system has also been paid much attention.A large number of physical phenomena in nature are reflected the synergistic effect of the Multi-agent system,experts in various fields applied the laws that exist in these phenomena to the UAV formation of multiple autonomous underwater,the synergy of unmanned aerial vehicles and the formation control of vehicle to achieve the maximization and optimization of resource utilization.In the cooperative control of Multi-agent system,leader-following system means that there exist a leader and its status information acts on the follower,so that the status information of followers in the system will eventually consensus with the leader.Convergence speed is a major factor affecting the system performance.Increasing the convergence speed can not only improve the accuracy of the system,but also enhance the robustness and anti-interference.Therefore,this paper focuses on the speed of convergence of the leader-following system in finite time.Firstly,studies the consensus of the first-order leader-following system in finite time.Based on the classical consensus algorithm,the overall cost function gradient algorithm is added.Using graph theory and Lyapunov finite-time stability theory proved that when the communication topology is fixedly connected,this algorithm can ensure the system quickly achieve consensus tracking,and the simulation example shows the superiority of the proposed algorithm.Secondly,a novel fast finite-time consensus protocol based on the gradient algorithm of the overall cost function is proposed for the leader-following second-order multi-agent systems under undirected network.The proposed protocol can make the systems convergence faster.Based on Lyapunov stability theory,graph theory and homogeneity theory,the sufficient conditions for the systems are given,and the convergence performance is analyzed in detail,and the simulation example shows the superiority of the proposed algorithm.Finally,a novel finite-time consensus protocol based on the gradient algorithm of the overall cost function is proposed for the heterogeneous multi-agent system.The leader's system model is second-order.Based on Lyapunov stability theory,graph theory and homogeneity theory,the sufficient conditions for the systems are given,and the convergence performance is analyzed in detail,and the simulation example shows the superiority of the proposed algorithm.