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Fast Disturbance Rejection Consensus Research For Multi-agents Based On Sliding Mode Control

Posted on:2020-04-19Degree:MasterType:Thesis
Country:ChinaCandidate:Y J XieFull Text:PDF
GTID:2428330590952537Subject:Control Science and Engineering
Abstract/Summary:PDF Full Text Request
In recent years,with the rapid development of new technology fields such as communication technology,network technology and artificial intelligence,multi-agent collaborative control has become the focus of extensive attention in the control field,and has been applied and transformed in the fields of industrial robot assistance,smart grid and multi-aircraft cooperation.Due to the limitation of the actual operating environment of multi-agent system,the disturbance and nonlinear problems in the system are concerned by many scholars.On the basis of many related theoretical research results,this paper combines the disturbance observer to study the theory of multi-agent cooperation control,aiming at weakening the influence of external disturbances on the system as much as possible and improving the stability of the system.Considering that the external disturbances in multi-agent systems can be divided into matched disturbances and non-matched disturbances,the finite-time consensus protocol of multi-agent systems is proposed.The main research results of this paper are as follows:In this paper,considered multi-agent systems with fixed network topology,the leader-follower finite-time consensus problem of second-order multi-agent systems with unknown external disturbances is investigated.To address this problem,different from existing works,first a novel time-varying finite-time disturbance observer is designed and a kind of super twisting integral sliding mode control protocol is proposed.Second,using Lyapunov theory and graph theory,it is proved that second-order nonlinear multi-agent systems with unknown disturbances exponentially reach consensus.Finally,a simulation example is included to verify the effectiveness of the theoretical results.The simulation shows that compared with common sliding mode algorithm,the new protocol can not only reduce the chattering effectively but improve convergence speed definitely.On the basis of Chapter 3,in order to further study the leader-follower fast consensus problem of second-order nonlinear multi-agent systems with unknown mismatched disturbances,a finite-time disturbance observer will be designed for each follower agent,which will be used to estimate unknown mismatched disturbances.To effectively improve the convergence speed of the system,this paper will combine the fast non-singular fast terminal sliding mode control with the super twisting algorithm,and an observer-based super twisting terminal sliding mode control protocol will be proposed only through local interaction.The designed protocol can not only ensure the fast consensus control of multi-agent system,but also reduce the chattering.Then,the stability will be proved by using Lyapunov function.Finally,simulation examples are included to verify the effectiveness of the proposed protocol and its superiority when compared with the existing results.
Keywords/Search Tags:Multi-Agent System, Finite Time Consensus, External Disturbance, Disturbance Observer, Sliding Mode Control
PDF Full Text Request
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