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Frontiers of Information Technology & Electronic Engineering
ISSN 2095-9184 (print), ISSN 2095-9230 (online)
2022 Vol.23 No.7 P.1057-1068
Finite-time leader-follower consensus of a discrete-time system via sliding mode control
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.
Key words: Finite-time; Leader-follower consensus; Adaptive sliding mode control; Multi-agent systems
1北京科技大学自动化学院，中国北京市，100083
2北京市工业波谱成像工程技术研究中心，中国北京市，100083
3北京科技大学土木与资源工程学院，城镇化与城市安全研究院，中国北京市，100083
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。
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DOI:
10.1631/FITEE.2100565
CLC number:
TP13
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On-line Access:
2022-07-21
Received:
2021-12-08
Revision Accepted:
2022-07-21
Crosschecked:
2022-05-08