多智能体系统固定时间旋转一致性控制
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太原理工大学

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TP13

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国家自然科学基金项目(62503353,62403193,62403346)


Fixed-time rotating consensus control of multi-agent systems
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The National Natural Science Foundation of China (62503353,62403193,62403346)

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    摘要:

    针对由一般线性系统驱动的移动目标,研究二阶多智能体系统固定时间旋转一致性问题。在复杂环境中,考虑部分智能体因感知范围受限或通信限制而无法直接获取移动目标的位置与速度信息,基于此,设计一种基于时变坐标变换的分布式观测器,该观测器只利用智能体间的局部交互信息,使所有智能体均能在固定时间内精确估计移动目标的位置。在此基础上,设计局部固定时间输出反馈控制器,通过引入目标跟踪、旋转控制、位置一致性及速度补偿项,实现系统在无速度信息条件下的固定时间旋转一致性。随后,结合双边极限齐次性理论与李雅普诺夫稳定性理论,证明系统的固定时间稳定性。理论分析证明,所提控制器能确保所有智能体在固定时间内实现旋转一致性。最后,仿真实验验证了所提控制器的有效性。

    Abstract:

    This paper investigates the fixed-time rotating consensus problem of second-order multi-agent systems for a moving target governed by a general linear system. In complex environments, we consider that some agents cannot directly acquire the position and velocity information of the moving target due to limited sensing range or communication constraints. To this end, a distributed observer based on time-varying coordinate transformation is devised, using only local interaction information among agents, the proposed observer enables all agents to accurately estimate the position of the moving target within a fixed time. On this basis, a local fixed-time output feedback controller is devised, by introducing the target tracking term, rotation control term, position consensus term and velocity compensation term, the controller achieves fixed-time rotating consensus of the system in the absence of velocity measurements. Subsequently, the fixed-time stability of the closed-loop system is rigorously proved via the combination of bilateral limit homogeneity theory and Lyapunov stability theory. Theoretical analysis demonstrates that the proposed controller can guarantee all agents to achieve rotating consensus within a fixed time. Finally, numerical simulation results are provided to verify the effectiveness of the proposed controller.

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  • 收稿日期:2025-11-10
  • 最后修改日期:2026-03-06
  • 录用日期:2026-03-06
  • 在线发布日期: 2026-03-16
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