Research On Finite-time Consensus Algorithms For Disturbed Multi-agent Systems

Multi-agent systems have wide applications due to their capability to accomplish tasks collaboratively.Distributed cooperative control for multi-agent systems has attracted increasingly attention because of its better robustness,economy and flexibility compared with traditional centralized control.Consensus is one of the most important issues of the control of multi-agent systems.Better anti-disturbance performance and convergence performance of the closed-loop systems are required more eagerly.This paper focuses on the consensus algorithms for leaderless and leader-follower multi-agent systems subject to disturbances and their applications in multi-hypersonic vehicle systems.The main contributions of this paper lie in three aspects as follows:1.For disturbed second-order multi-agent systems,based on integral sliding-mode control method,an asymptotic consensus algorithm is proposed to achieve the asymptotic consensus of the leaderless multi-agent systems.Then based on integral terminal sliding-mode control method,a finite-time consensus controller is designed for the leader-follower second-order multi-agent systems.Compared with the existing results,the proposed consensus algorithms require less communication information for each agent.2.For disturbed higher-order multi-agent systems,combining integral sliding-mode control method and disturbance observer technique,a composite asymptotic consensus algorithm is given in this paper to achieve the asymptotic consensus of the leaderless multi-agent systems.Then for the leader-follower cases,based on integral terminal sliding-mode control method and disturbance observer technique,a composite finite-time consensus controller is presented to achieve finite-time consensus for the leader-follower multi-agent systems.Compared with pure sliding-mode consensus protocols,the proposed consensus protocols cause less chattering for the closed-loop systems.3.A class of multi-hypersonic vehicle systems is modified by longitudinal model in this paper.Then,according to the previous results,the asymptotic and finite-time control schemes are designed for the leaderless and leader-follower multi-hypersonic vehicle systems,respectively.Under these control schemes,the velocity and altitude consensus can be achieved.And the associated simulations are shown to validate the efficiency of the proposed consensus algorithms.