Research On Finite-time Consensus Of Multi-agent Systems Under Uncertain Environment

Recently,coordinated control of multi-agent systems has become a hot topic in the control field.Consensus of multi-agent systems is the most basic and key issues.Due to some factors such as time and cost,systems are required to achieve consensus in a certain time,and the consensus algorithm is also required to have strong robustness.Therefore,the finite-time consensus of multi-agent systems is important in consensus problem.Due to many uncertain factors in practical,this thesis will study the finite-time consensus problem of multi-agent systems with time delay and noises.1.By using graph theory,pinning control and Lyapunov stability,finite-time consensus problem of multi-agent systems with time delay is studied.In the course of studying this problem,leader-follower multi-agent systems with multiple delays under time-varying topologies are considered.And suitable consensus protocols are designed and it is proved whether there is a spanning tree with the leader being the root or not,systems can reach consensus in a certain period of time.In addition,it is given that when there is a spanning tree with the leader as the root,systems can reach consensus in a finite time.At the same time,the upper bound of the settling time is also provided.2.Based on the Lyapunov stability theory of stochastic systems,graph theory,pinning control and Gronwall inequality,finite-time consensus problem of multi-agent systems with noisies is studied.In the process of studying this problem,two kinds of multi-agent systems with leaders and withnot leaders are studied.When studying the leaderless systems,the first-order multi-agent systems are considered.When studying the multi-agent systems with the leader,the first-order multi-agent systems and the second-order multi-agent systems are explored,respectively.At the same time,several suitable control protocols are designed.In addition,the sufficient conditions for the systems to reach finite-time consensus are given and for the first-order leader-follower multi-agent systems,the upper bound of the stochastic settling time that dependent and independent of the initial states are given,respectively.Above all,this thesis mainly studies the finite-time consensus problem of multi-agent systems with time delay and noises under uncertain environments.Some sufficient conditions for the consensus are given.The given numerical examples verify the correctness of results and the effectiveness of methods.