Research And Analysis Of Finite-time Consensus Of Multi-agent System Based On Distributed Control

In recent years,distributed cooperative control for multi-agent systems has caused widespread concern among scholars at home and abroad.The main reason is that multiagent systems have extensive application prospects,and are widely involved in many disciplines such as biology,and at the same time in many engineering fields such as the formation of drone groups,sensor networks,vehicle traffic management.Studying the results of research on multi-agent system distributed cooperative control,it is not difficult to find that consensus,as the most fundamental issue,has been deeply developed.Generally speaking,the conventional approach on how to solve the finite-time consensus problem is to prove that the proposed control protocol could make the multi-agent system reach consensus in finite-time under the Lyapunov finite-time stability theory.And the finite time result of the prove obtained is closely related to the change in initial value of the system.However,as a special finite-time control technology,comparing to the classical finite time control technology,the fixed-time control theory is characterized by the fact that the obtained settling time does not depend on the initial value of the system,but adjusts the parameters to change the settling time of the system.Taking into account the different requirements of the actual control system in terms of energy consumption,disturbances,etc..Based on the existing research results,this paper mainly designs two different finite-time consensus protocols.The protocols are used to solve the finite-time consensus problem of multi-agent systems based on the distributed control.The main research directions are as follows:Firstly,the finite-time consensus problem of multi-agent system based on eventtriggered control is studied.By introducing an event-triggered control mechanism into a finite-time algorithm,a novel finite-time consensus algorithm is proposed.Under the support of algebraic graph theory and Lyapunov stability theory,we have obtained the condition that the multi-agent system with event-triggered control achieves consensus within a limited time under the undirected communication topology graph.Then the numerical simulation results show that the finite-time consensus protocol based on eventtriggered control has a faster convergence speed than the traditional finite-time algorithm.Experiments also show that the system can maintaining lower energy consumption and communication burden.Secondly,the fixed-time consensus problem of multi-agent systems with impulse disturbances is studied.By introducing impulse effects into the multi-agent system model,a new fixed-time consensus algorithm is proposed.With the support of algebraic graph theory and impulse control theory,we obtain the conditions for the multi-agent system with impulse effects to achieve fixed-time consensus under the undirected communication topology diagram,and estimate the settling time under different initial values.Simulation results also show that the multi-agent system is not affected by the initial value of the agent.The parameters could be adjusted to find the optimal consensus speed and the settling time can be estimated.