Finnite-time Consensus Problem Of Multi-agent Systems With External Disturbances

In this paper,the finite-time consensus problem of multi-agent system with disturbances is studied.In order to achieve the consensus of multiple mobile agents in finite-time,this paper designs a distributed finite time control law according to different network topologies.By converting the original system into an equivalent system using the disagreement vector,the condition that all agents achieve the finite-time conensusy is obtained.Finally,a simulation example is given to verify the correctness of the theory and method.Firstly,this paper introduces the graph theory knowledge,finite-time definition and classical lemma needed in the study of finite time consensus of multi-agent systems.Secondly,a distributed control law is designed to achieve the finite-time consensusof a second-order multi-agent system with external disturbances,and then the finite-time consensus of a second-order multi-agent system with two specific forms of external disturbances is further analyzed.Finally,the finite-time consensus problem of mixed order multi-agent system with external disturbances based on the fixed topology network is discussed.In order to achieve the consensus of multiple non-holomorphic moving agents in finite time,a distributed finite-time control law is designed,and the conditions to ensure the consensus of all agents in finite-time are obtained by transforming the original system into an equivalent system,that is,a hybrid system of first and second order subsystems.