Research On Leader-follower Consensus Of Hybrid Multi-agent Systems With Disturbances

With the advancement of human society and the development of scientific research,people are increasingly active in the study of group cooperative control,and multi-agent systems are one of the hot areas of group cooperative control research.Multi-agent systems are composed of a group of autonomous entities known as agents,which realize information transmission and sharing through the network among each other.Agent is an actual object or abstract individual that can combine various types of sensors to sense the current environment,and then make corresponding command feedback to the current environment through the actuator.The composition of the multi-agent system is becoming more and more complicated,and the leader-follower consensus problem of the first-order and second-order hybrid multi-agent systems with disturbance is studied by using the sliding mode control method in this paper.The main contents of this paper are as follows:Firstly,in this paper,the problem of leader-follower consensus of first-order hybrid multi-agent system with disturbances is studied.First-order hybrid multi-agent system model with disturbances and nonlinear term are given in this paper.In order to solve the disturbances and nonlinear term problems on the system,the sliding mode control protocols for the first-order hybrid multi-agent system are designed based on the equivalent approaching law,and the control protocols contain the state information of continuous-time dynamic agent and discrete-time dynamic agent.Lyapunov functions are designed for first-order hybrid multi-agent system,and sufficient conditions for the system to achieve leader-follower consensus are given,and then the leader-follower consensus of the system is proved under the sliding mode control protocols.Finally,the effectiveness of the method is verified by MATLAB simulation.Secondly,the leader-follower consensus problem of second-order hybrid multi-agent systems with disturbances is studied by using sliding mode control under the leader-follower network.The second-order hybrid multi-agent system is composed of second-order continuous-time dynamic agents and second-order discrete-time dynamic agents.Assume that the interaction among all agents happens in sampling time t_k and each continuous-time dynamic agent can observe its own state in real time.Based on the equivalent approaching law,the sliding mode control protocols are designed to eliminate the initial chattering phenomenon and achieve the leader-follower consensus of the second-order hybrid multi-agent system.Some sufficient conditions are given for solving the consensus under the sliding mode control protocols.Some simulations are also given to illustrate the validity of the proposed method.