Leader-following second-order multi-agent system finite time consistency tracking control method

Abstract

The invention discloses a leader-following second-order multi-agent system finite time consistency tracking control method, which comprises the following steps of designing a finite time double-powersliding mode disturbance observer based on a finite time convergence theory to estimate equivalent disturbance of a system in real time and perform dynamic compensation, designing a finite time fast arctangent tracking differentiator to calculate a leader acceleration signal, and designing a finite time consistency tracking controller in combination with sliding mode control to ensure that the system realizes stable control within finite time. Different from a traditional disturbance observer, the finite time double-power sliding mode disturbance observer is characterized in that a finite timeconvergence theory and a sliding mode control theory are introduced, so that estimation errors of disturbance converge to 0 within finite time, estimation precision and compensation efficiency of disturbance are improved, and based on a finite time fast arctangent tracking differentiator, the consistency tracking controller combines the advantages of the finite time convergence theory and the sliding mode control, and ensures that the tracking error of the system is converged to 0 within the finite time.

Description

technical field [0001] The invention belongs to the limited time consistent tracking control category of the leader-following second-order multi-agent system, and relates to the improvement and innovation of a disturbance estimation and compensation method, a leader acceleration information acquisition method and a consistency tracking control strategy of the second-order multi-agent system. Aiming at the uncertain interference such as communication and input errors existing in the system, based on the rapid acquisition of the leader's acceleration information, a consistent tracking controller is designed to improve the technology of multi-agent systems to achieve fast and stable consistent tracking. Background technique [0002] With the development of artificial intelligence and the increasing maturity of communication technology and computer technology, multi-agent system collaborative control is widely used in UAV formation control, space WeChat communication, distribute...

AI Technical Summary

Problems solved by technology

However, many existing consistent tracking control methods assume that the leader's motion state in the system is linear or the acceleration information is known, which is ideal

Therefore, when the leader's motion state is nonlinear or the acceleration is unknown, the traditional consistent tracking control method is difficult to obtain the ideal control effect

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