Stability and Robustness Analysis of Finite-Time Consensus Algorithm for Second-Order Multiagent Systems Under Sampled-Data Control
研究了基于非光滑采样数据控制的二阶多智能体系统一致性协议，给出了无扰动时有限时间达成一致的条件，并分析了有扰动时误差边界与采样周期及扰动的显式关系，证明非光滑算法抗扰能力更强。
The consensus problem for second-order multiagent systems based on nonsmooth sampled-data control is considered. First, a continuous-time nonsmooth consensus protocol is proposed, which can realize the consensus of systems in a finite time when the external disturbance is absent. Next, based on the sampled data and the zero-order holder, a new discrete-time nonsmooth protocol is proposed. Considering external disturbances, the explicit relationship between the ultimate boundary of errors of any two agents and the sampling period and external disturbance is given with the Lyapunov method and graph theory, which theoretically shows that the nonsmooth control algorithm has a stronger ability to resist external disturbance than the smooth control algorithm. Finally, a simulation example shows the superiority of the nonsmooth consensus algorithm over a smooth consensus algorithm.