信息与控制2025，Vol.54Issue(3)：465-474,10.DOI:10.13976/j.cnki.xk.2024.4137
多智能体系统固定时间变角速度旋转一致性控制
Fixed-time Variable Angular Velocity Rotating Consensus Control for Multi-agent Systems
摘要
Abstract
A distributed output feedback controller is proposed to achieve fixed-time variable angular ve-locity rotating consensus(FVAVRC)in second-order multi-agent systems.The target moves along a circular path with an unknown time-varying angular velocity.First,a fixed-time observer is pro-posed to estimate the position of the dynamic target.Then,using a precise differentiator,the tar-get's rotational angular acceleration,which is difficult to accurately measure,is estimated.In ad-dition,an auxiliary dynamic variable is introduced to eliminate the need for measuring agents' rela-tive velocity.By applying the bilateral limit theorem and Lyapunov stability theory,we prove that the system can achieve rotating consensus in a fixed time.Numerical simulations confirm the effec-tiveness of the proposed controller.关键词
多智能体系统/固定时间稳定性/旋转一致性/精确微分器/分布式控制Key words
multi-agent system/fixed-time stability/rotating consensus/precise differentiator/distributed control分类
计算机与自动化引用本文复制引用
寇立伟,赵宇胜,刘强,肖舒怡..多智能体系统固定时间变角速度旋转一致性控制[J].信息与控制,2025,54(3):465-474,10.基金项目
国家自然科学基金项目(62403346),山西省基础研究计划青年项目(202103021223048,202203021222101) （62403346）
