Abstract：
This paper is concerned with the problem of fixed-time consensus tracking for a class of nonlinear multi-agent systems subject to unknown disturbances. Firstly, a modified fixed-time disturbance observer is devised to estimate the unknown mismatched disturbance. Secondly, a distributed fixed-time neural network control protocol is designed, in which neural network is employed to approximate the uncertain nonlinear function. Simultaneously, the technique of command filter is applied to fixed-time control, which circumvents the \"explosion of complexity\" problem. Under the proposed control strategy, all agents are enable to track the desired trajectory in fixed-time, and the consensus tracking error and disturbance estimation error converge to an arbitrarily small neighborhood of the origin, meanwhile, all signals in the closed-loop system remain bounded. Finally, a simulation example is provided to validate the effectiveness of the presented design method.
摘要：
本文研究了一类非线性多智能体系统在未知扰动下的固定时间一致性跟踪问题。首先,设计了一种改进的固定时间干扰观测器来估计未知的失配干扰。其次,设计了一种分布式固定时间神经网络控制协议,其中神经网络用于逼近不确定的非线性函数。同时,命令过滤技术应用于固定时间控制，这避免了“复杂性爆炸”问题。在提出的控制策略下，所有代理都能够在固定时间内跟踪所需的轨迹，并且一致性跟踪误差和扰动估计误差收敛到原点的任意小邻域，同时,闭环系统中的所有信号保持有界。最后,仿真实例验证了所提设计方法的有效性。
