Research On Fixed-time And Predefined-time Consensus Of Multi-agent Systems

In the past decade,the researches on consensus problems of multi-agent systems have attracted a wide range of attention from scholars in the field of control.With the deepening of researches,the rapid development of information technology has been promoted.As a new distributed control method,the multi-agent system achieves the global common goal only by local information exchange.It has many advantages,such as flexibility,high fault tolerance and scalability.In practice,given the complexity and variability of the environment,the initial states are often inaccessible,which provides great difficulties in practice.Therefore,this paper investigates fixed-time consensus and predefined-time consensus,making the system independent of the initial states.The main points of the paper are as follows.Firstly,the problem of nonlinear finite-time and fixed-time bipartite consensus tracking of multi-agent systems is investigated.Considering the system in the presence of both cooperation and competition,two different control methods are re designed,respectively.One is the finite-time control method,another is the fixed-time control method.The Lyapunov stability method is utilized to ensure that all the agents reach bipartite consensus.Their absolute values are the same,but the directions may be different.Finally,the effectiveness of the design is verified by simulation examples.Secondly,the problem of observer-based fixed-time consensus tracking for second-order multi-agent systems with disturbances is investigated.The state information of the leader is estimated by using a fixed-time observer.And then,according to the designed controller,the states of the agents and observed states reach consensus by using sliding film control,i.e.,leader-following consensus.Finally,the effectiveness of the design is verified by simulation examples.Finally,the problem of distributed observer-based predefined-time consensus control for second-order multi-agent systems is investigated.The predefined-time observer is designed to make the observed state and the leader state reach consensus.Then,according to the designed controller,the sliding film control is used to make the states of the agents and the observed states reach consensus,i.e.,to achieve leader-following consensus.Finally,the effectiveness of the design is verified by simulation examples.