基于固定时间拟无源的切换拓扑下的二阶多智能体系统的输出一致性控制
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辽宁工业大学

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TP273

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辽 宁 省 自 然 科 学 基 金 面上项 目


Fixed-time quasi-passivity-based output consensus control of second-order multi-agent systems under switching topologies
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    摘要:

    本文利用固定时间拟无源理论解决一类具有未知非线性的二阶多智能体系统在切换通信拓扑下的固定 时间输出一致性问题。首先,提出非线性系统固定时间拟无源概念。并证明固定时间拟无源系统的状态是有界 的且固定时间收敛到集合,从而获得固定时间实用稳定性准则。其次,针对含有未知非线性函数的多智能体系 统,利用模糊逻辑系统逼近未知非线性函数,设计一种模糊自适应固定时间拟无源化控制器,使得多智体系统 在切换拓扑下是固定时间拟无源。再利用所得到的固定时间稳定性准则去证明多智能体的固定时间拟输出一致 性问题。该控制器设计方法通过引入非奇异函数设计虚拟控制器,有效避免了传统反步法中的奇异性问题。在 本文的最后,通过实例仿真验证了结果的有效性。

    Abstract:

    This paper investigates the fixed-time output consensus problem for a class of second-order multi-agent systems with unknown nonlinearities under switching communication topologies, utilizing fixed-time quasi-passivity theory. First, the concept of fixed-time quasi-passivity for nonlinear systems is proposed. It is proven that the states of a fixed-time quasi-passive system are bounded and converge to a bounded set within a fixed time, thereby establishing a criterion for fixed-time quasi-passivity. Second, for the multi-agent system containing unknown nonlinear functions, fuzzy logic systems are employed to approximate the unknown nonlinearities, and a fuzzy adaptive fixed-time quasi-passivity controller is designed. This ensures that the multi-agent system achieves fixed-time quasi-passivity under switching topologies.The obtained fixed-time stability criterion is then used to prove the fixed-time output consensus of the multi-agent system. The controller design method effectively avoids the singularity issue inherent in traditional backstepping by incorporating a nonsingular function to design virtual controllers. Finally, simulation results are provided to validate the effectiveness of the proposed approach.

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  • 收稿日期:2026-05-06
  • 最后修改日期:2026-09-06
  • 录用日期:2026-09-06
  • 在线发布日期: 2026-09-22
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