Finite-time Consensus Tracking Of Multi-agent Systems Under The Extern Disturbance

With the development of science and technology,the theory of Multi-agent Systems has been widely used in many fields,such as the Unpiloted Vehicle Systems,Unmanned Aerial Vehicle cluster and formation,the autonomous configuration of the large-scale distributed mobiles sensor networks,the attitude control of satellites and the network congestion control.In this thesis,finite-time consensus tracking of multi-agent systems under the disturbance conditions is studied by using basic theories such as graph theory,finite-time stability theory and integral sliding mode control theory.Compared with previous research results,the research content of this paper is based on the theory of finite-time consistency.Under this condition,the system has faster convergence,stronger robustness,better performance,better anti-interference ability and also more practical significance.At the same time,the disturbance problem in the actual system is considered in the thesis.Using the integral sliding mode control theory,a control protocol that can suppress the external disturbance of the system is designed,and then the finite-time consensus tracking of the system can be realized.Now following conclusions are given.Firstly,the finite-time consensus tracking problem of second-order double-integral systems under the extern disturbance conditions is studied in this paper and the control algorithms of achieving finite-time consensus tracking in both undirected and directed communication topologies are proposed.And then the complete mathematical proof process and Matlab simulation examples are presented.Secondly,the finite-time consensus tracking problem of general linear systems under the extern disturbance conditions is studied in this paper article.Compared with the second-order double-integral systems,the general linear system is more universal,and its research is more difficult.The control algorithms for tracking the finite-time consistency of a general linear system under the undirected and directed communication topologies are presented in the thesis and complete mathematical proof processed and Matlab simulation examples are given.Finally,the finite-time consensus tracking problem of nonlinear systems under the extern disturbance conditions are studied in this paper.Taking into account the actual system,the system model exists in the model error,measurement noise and other non-linear links.So in the paper the finite-time consensus tracking control algotithms of the undirected network and directed network are studied when the non-linear items in the agent model of the systems are existing.