Fixed-time Consensus Research Of Multi-agent Systems

With the rapid development of information technology,multi-agent coordinated control has become a hot topic in the control field in recent years.The research on consensus in coordination control has always been a key performance factor,which has attracted more and more attention from scholars from all walks of life.At present,most of the papers focus on the study of asymptotic consensus,but the asymptotic consensus system has some defects,such as serious consumption,unmeasurable convergence time,and long-time consumption.In order to make up for this deficiency,this paper mainly studies the consensus problem of fixed-time.Fixed-time control can not only improve the convergence speed of the system,but also the convergence time is not affected by the initial value.The main research contents are as follows:Based on Lyapunov stability theory,matrix inequality and graph theory,the output consensus problem of multi-agent with competition relationship is studied.Firstly,a distributed control protocol based on state feedback is proposed,and the condition of the output consistency in fixed(finite)time is further analyzed by combining the output regulation equation.Then appropriate controller parameters are designed so that the proposed control algorithm can output the behavior of the agent so as to achieve output error convergence before estimating the event.The output consensus problem of fixed-time with information quantization and adaptation is studied.Firstly,due to the influence of the communication bandwidth between agents,the information communication between neighbors is idealized regularly,and a fixed-time state feedback protocol based on quantization is proposed.Furthermore,the adaptive algorithm of state compensator,state feedback method,matrix inequality and so on are proposed.The output consensus of fixed-time based on quantization is realized,and the relationship between the convergence time and the control input parameters is determined.Finally,this paper analyzes the multi-leader fixed-time consensus under constraint control,and considers both linear and nonlinear cases.In order to reduce the influence of external interference,a nonlinear fixed-time consensus algorithm is proposed,and the tying control is applied to reduce the complex calculation.The linear fixed-time consensus.corollary with disturbance is introduced based on the special case and the same analysis method is applied to ensure the condition that the system state can achieve the fixed-time consensus.