Consensus Control Of Multi-agents Based On Finite-time Passivity Of Switched Systems

In this paper,we study the multi-agent consistency problem by using finite-time passivity of switched systems.Firstly,the consistency problem between multi-agents and multi-agents feedback interconnection system is investigated.Secondly,the consistency problem of multi-agents with uncertainties and multi-agents feedback interconnection system with uncertainties is investigated.The main work includes the following aspects:(1)The consistency problem of multi-agents is studied based on finite-time passivity.First,under the fixed topology and the zero row sum conditions,the controllers are designed to solve the problem of the multi-agents cosensus.Second,under the condition of switching topology,the zero row sum conditions are not needed to be satisfied,the problem of multi-agents cosensus is solved by the convex combination and designing the switching signal.Finally,two multi-agents with finite-time passivity are cascaded to form a new multi-agent,and the consistency of the feedback interconnection system is obtained by using the finite-time passivity of the feedback interconnection system.(2)The consistency problem of multi-agents with uncertainties and multi-agents with uncertainties of the feedback interconnection system is investigated by robust finite-time passivity.First,the consistency of multi-agents with uncertainties is obtained by designing controllers based on the robust finite-time passivity of multi-agents.Second,two multi-agents with uncertainties,which are robust finite-time passives,they cascade into a new system,by using the robust finite-time passivity of the feedback interconnection system,the consistency of the feedback interconnection system is obtained.