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Discontinuous Observers Design for Finite-Time Consensus of Multiagent Systems With External Disturbances

机译:具有外部干扰的多主体系统有限时间共识的不连续观测器设计

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摘要

This brief investigates the problem of finite-time robust consensus (FTRC) for second-order nonlinear multiagent systems with external disturbances. Based on the global finite-time stability theory of discontinuous homogeneous systems, a novel finite-time convergent discontinuous disturbed observer (DDO) is proposed for the leader-following multiagent systems. The states of the designed DDO are then used to design the control inputs to achieve the FTRC of nonlinear multiagent systems in the presence of bounded disturbances. The simulation results are provided to validate the effectiveness of these theoretical results.
机译:本文简要研究了具有外部干扰的二阶非线性多主体系统的有限时间鲁棒一致性(FTRC)问题。基于不连续齐次系统的全局有限时间稳定性理论,提出了一种针对跟随者的多主体系统的新型有限时间收敛不连续扰动观测者(DDO)。然后,将设计的DDO的状态用于设计控制输入,以在存在有界干扰的情况下实现非线性多主体系统的FTRC。提供仿真结果以验证这些理论结果的有效性。

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