基于离散系统滑模控制的有限时间领导—跟随一致性

宋睿卓; 邢适; 许镇

doi:10.1631/FITEE.2100565

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基于离散系统滑模控制的有限时间领导—跟随一致性

多智能体系统的体系化和组织化博弈专题 | Updated：2022-09-08

- 基于离散系统滑模控制的有限时间领导—跟随一致性
- Finite-time leader-follower consensus of a discrete-time system via sliding mode control
- 信息与电子工程前沿（英文） 2022年23卷第7期页码：1057-1068
- Affiliations：
  
  1.School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing100083, China
  2.Beijing Engineering Research Center of Industrial Spectrum Imaging, Beijing100083, China
  3.Research Institute of Urbanization and Urban Safety, School of Civil and Resource Engineering, University of Science and Technology Beijing, Beijing100083, China
- Author bio：
  
  ‡Corresponding authors
  E-mail: xingshi7@qq.com;
  E-mail: xuzhen@ustb.edu.cn
- Funds：
  
  National Natural Science Foundation of China(61873300;61722312);Fundamental Research Funds for the Central Universities, China(FRF-MP-20-11;FRF-IDRY-20-030)
- DOI：10.1631/FITEE.2100565
  中图分类号： TP13
- 收稿：2021-12-08，
  
  录用：2022-05-08，
  
  纸质出版：2022-07-23
- Accepted：
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宋睿卓, 邢适, 许镇. 基于离散系统滑模控制的有限时间领导—跟随一致性[J]. 信息与电子工程前沿（英文）, 2022,23(7):1057-1068.

Ruizhuo SONG, Shi XING, Zhen XU. Finite-time leader-follower consensus of a discrete-time system via sliding mode control[J]. Frontiers of Information Technology & Electronic Engineering, 2022, 23(7): 1057-1068.
宋睿卓, 邢适, 许镇. 基于离散系统滑模控制的有限时间领导—跟随一致性[J]. 信息与电子工程前沿（英文）, 2022,23(7):1057-1068. DOI： 10.1631/FITEE.2100565.

Ruizhuo SONG, Shi XING, Zhen XU. Finite-time leader-follower consensus of a discrete-time system via sliding mode control[J]. Frontiers of Information Technology & Electronic Engineering, 2022, 23(7): 1057-1068. DOI： 10.1631/FITEE.2100565.

摘要

研究了离散时间二阶多智能体系统在外部干扰约束下的有限时间领导—跟随一致性问题。首先利用自适应滑模控制理论，设计了一种新的有限时间一致性方案。自适应控制律是在传统滑模趋近律基础上改进设计的，其优点是减少抖振并保持对干扰的不变性。此外，通过给出一个离散李雅普诺夫函数，证明了离散时间二阶多智能体系统的有限时间稳定性。最后，数值模拟结果验证了理论分析的有效性。

Abstract

In this study

we solve the finite-time leader-follower consensus problem of discrete-time second-order multi-agent systems (MASs) under the constraints of external disturbances. First

a novel consensus scheme is designed using a novel adaptive sliding mode control theory. Our adaptive controller is designed using the traditional sliding mode reaching law

and its advantages are chatter reduction and invariance to disturbances. In addition

the finite-time stability is demonstrated by presenting a discrete Lyapunov function. Finally

simulation results are presented to prove the validity of our theoretical results.

关键词

Keywords

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