Fixed-Time Anti-Disturbance Average-Tracking for Heterogeneous Linear Multiagent Systems
针对受外部干扰的异构线性多智能体系统，提出一种固定时间抗干扰平均跟踪控制协议，使各智能体在预定时间内跟踪参考信号的平均值。
This article focuses on the average-tracking control issue for heterogeneous linear multiagent systems via a fixed-time approach. The agents, with varied dynamics and state dimensions, are subject to external disturbances and each has a unique reference signal that cannot be accessed by the other agents. In this setting, each agent is provided a multiple reference signal state compensator in order to estimate the states of all reference signals. Furthermore, external disturbances are estimated using a fixed-time sliding mode disturbance observer. An anti-disturbance control protocol is proposed by combining the disturbance observer and the state compensator for agents to track the average value of reference signals within a fixed time, which is predetermined and independent of initial states. The efficiency of the suggested average-tracking control mechanism is shown by numerical experiments.