Consensus Problem In Multi-Agent Systems

Recently, the multi-agent distributed coordination problem has attracted many researchers from different disciplines. This is because that it can be widely utilized in many fields. As the basis of the distributed coordination problem for multi-agent systems, the consensus problem has become the research focus of control community. In multi-agent systems,"consensus"means to reach an agreement regarding a certain quantity of interest that depends on the state of all agents. A"consensus algorithm"is an interaction rule specifies the information interaction among all dynamical agents. In this paper, we focus on investigating finite-time consensus problem for multi-agent systems with a leader. According to the differences properties of the leader, leader-follower consensus problems can be categorized as leader-follower consensus problems with a real leader and leader-follower consensus problems with a virtual leadeTr.h is paper mainly includes the following aspects:Firstly, we study the leader-follower finite-time consensus control of multi-agent systems with second order linear node dynamics and input disturbances. Terminal sliding mode control scheme is used to design the control law. A new terminal sliding mode surface is proposed to guarantee finite-time consensus under fixed topology, with the common assumption that the active leader is known to its neighbors only. By using the finite-time Lyapunov stability theorem, we obtain the sufficient condition of finite-time consensus. Finally, a simulation example is given to verify the robustness and validity of the proposed method.Secondly, we study the leader-follower finite-time consensus problem of multi-agent systems with system uncertainties and a time-invariant communication topology consisting of general linear node dynamics. Terminal sliding mode control scheme is used to design the control law. By building a sliding mode surface we can make the tracking error converge to zero on the siding mode surface in finite time. By using the finite-time Lyapunov stability theorem, we obtain the sufficient condition of finite-time consensus. Finally, a simulation example is given to illustrate the effectiveness of the proposed method.