Research On Fixed-Time Group Consensus Of Multi-Agent Systems Under Disturbance

With the rapid development of artificial intelligence and communication technology,collaborative control of multi-agent systems has gradually become one of the research hotspots in the field of control science.With the increasingly in-depth study of the theory and application of multi-agent systems on consensus issues,the issue of achieving consensus in multi-agent systems is no longer limited to achieving convergence consensus for a single target state value.In most cases,multi-agent systems need to achieve convergence consensus for multiple target state values,so the concept of group consensus in multi-agent systems has evolved.Grouping consensus refers to dividing a multi agent system into multiple subgroups,where agents in the same subgroup gradually converge to the same target state value,while agents in different subgroups gradually converge to different target state values.Due to the fact that there are disturbances and limited communication resources in the system,in view of the problems existing in the above systems,this article combines disturbance observer technology,sliding mode control,and dynamic event-triggered mechanisms to conduct research on fixed time group consensus in multi-agent systems.The specific research content of this article is as follows:Firstly,the problem of fixed time group consensus for multi agent systems by dynamic event-triggered mechanism under matching disturbances is addressed.A dynamic model of multi agent systems with matching disturbances is presented,and a by dynamic event-triggered mechanism is designed to further reduce communication costs.Based on the dynamic event-triggered mechanism,a fixed time group consensus control protocol is designed to enable multi-agent systems under matching interference to achieve group consensus within a fixed time.The stability of the control algorithm in this chapter is proved using graph theory and Lyapunov functions,and the Zone behavior is strictly excluded.Finally,the effectiveness of the control algorithm in this chapter is verified through simulation examples.Secondly,the problem of fixed time group consensus for leader follower multi-agent systems with mismatched disturbances is studied.Aiming at the problem that mismatched disturbances and system control inputs are not in the same control channel,which makes it difficult to achieve compensation,a disturbance observer is constructed to perform fixed time observation and estimation of mismatched disturbances.Based on the observation and estimation values,a reasonable sliding mode surface and a fixed time group consensus sliding mode control protocol are designed to enable the agent state to converge to the sliding mode surface at a fixed time,Further,tracking and converging to the state of the leader of each subgroup to achieve group consensus.Combining Lyapunov stability theory and fixed time stability theory,it is further proved that the designed control protocol can enable the system to achieve group consensus at fixed time.