| With the development of industrialization and intelligence,multi-agent system has been widely applied in UAV combat technology,cloud network side-end coordination,satellite attitude adjustment,smart power grid system and other fields due to its independence,autonomy and scalability.In terms of the practical application of multi-agent system,often there is input disturbance and the problems of slow convergence speed,therefore,in this paper under the symbol network multi-agent system with disturbance of binary contains control problem,put forward under the limited time of binary contains control protocol,designed to improve the control accuracy and speed up the convergence and save resources.The main contents of this paper are as follows:Firstly,based on the local information between agents,the multi-agent systems with cooperative and competitive first-order systems and second-order systems are studied.In order to ensure that the multi-agent systems can achieve inclusion control in a finite time,corresponding binary inclusion control protocols are set for them respectively.In order to make each agent can converge its error to the controllable interval in finite time,the finite time binary inclusion control of multi-agent system with cooperation and antagonism and interference input is realized.Secondly,the distributed finite time binary inclusion control is processed by eventtriggered control algorithm.Combining the finite-time stability theory and event-triggered control strategy,a nonlinear distributed binary inclusion control strategy is presented based on the symbol graph of structural equilibrium.Unlike asymptotic convergence,all agents achieve binary inclusion in finite time under finite time control protocols.Compared with the continuous time controller,the proposed event-triggered control scheme can reduce the frequency of control actions,and the system excludes Zeno behavior.Finally,the feasibility of the theoretical results is verified by a simulation example. |
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