Fixed time cooperative tracking control method of second-order nonlinear multi-agent system

Abstract

The invention relates to a fixed time cooperative tracking control method of a second-order nonlinear multi-agent system, which comprises the steps of: designing a fixed time convergence nonsingular terminal sliding mode surface; designing an RBF neural network approximation system dynamics nonlinear term; designing a multi-agent system fixed time cooperative tracking controller; and enabling thedesigned controller to act on the system to realize the control of a multi-agent system for cooperatively tracking a target agent within fixed time. The fixed time cooperative tracking control methodhas strong robustness to external disturbance, has strong adaptability to unknown nonlinearity of a model, and can ensure the convergence of the system within fixed time, and enables the convergence time to be irrelevant to the initial state of the system. The fixed time cooperative tracking control method has wide application range and can be applied to systems with high requirement on convergence time.

Description

technical field [0001] The invention belongs to the research of distributed multi-agent system cooperative tracking control technology, relates to a second-order nonlinear multi-agent system fixed-time cooperative tracking control method, specifically relates to the second-order nonlinear multi-agent system to realize tracking control within a fixed time Cooperative tracking control method for maneuvering targets. Background technique [0002] There are two main research points in the cooperative control of multi-agent systems: the consensus state selection of convergence and the consensus convergence speed. Among them, the consistent convergence speed is an important parameter, because many practical systems have strict requirements on the convergence time, so some scholars have proposed finite-time cooperative control, so that the convergence task of the system can be completed within a finite time. However, since the upper bound of the convergence time is related to the ...

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Problems solved by technology

The existing literature research results are mainly aimed at simple dynamic models, such as single-integral systems, double-integral systems, second-order systems with bounded disturbances, and nonlinear second-order systems with Holder continuity. For any continuous second-order The bounds of nonlinear systems and system disturbances are unknown. There are few studies on fixed-time cooperative control of such complex models.

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