The invention belongs to the technical field of
intelligent control, and particularly discloses a multi-agent
system consistency method based on adaptive shunt integral PI control, and the method comprises the following steps: obtaining the displacement, speed and time-varying disturbance data of each agent in a second-order multi-agent
system under an
undirected graph; calculating a displacement consistency error and a speed consistency error of each
intelligent agent; an adaptive shunt integral PI controller is constructed, the controller comprises a proportional term, a shunt integral term and a disturbance
estimation term, and the shunt integral term reduces
system overshoot through a symbol switching mechanism; dynamically adjusting a disturbance
estimation item, and describing the dynamics of a shunt integral item through a
hybrid system model; and determining a self-adaptive shunt integral PI controller and constraint conditions of related
control parameters in the self-adaptive law so as to enable the system to realize consistency under time-varying disturbance. According to the method, in the
consistency problem of the second-order multi-agent system under the
undirected graph, for time-varying disturbance, the system can achieve consistency, and meanwhile overshoot is reduced.