针对具有未知领导者控制输入的双积分形式的二阶多智能体系统的有限时间分布式协同控制问题进行了研究。首先, 为了快速、准确地估计领导者的控制输入信息, 提出了一种新的基于双曲正切函数的有限时间跟踪微分器, 并引入终端吸引子函数来消除抖振。其次, 设计了一种基于含减速点的新型变速趋近律的有限时间跟踪控制律, 系统在远离减速点时具有较快的收敛速度, 在靠近减速点时能有效削弱抖振。在此控制律的作用下, 跟随者利用所获得的控制输入信息, 可以更好地实现对领导者的速度和位置跟踪。最后, 仿真结果验证了所提算法的有效性。

Finite-time distributed cooperative control of a second-order multi-agent system in the form of double integral with unknown leader control inputs is studied.Firstly,in order to estimate the leaders control input information quickly and accurately,a new finite-time tracking differentiator based on hyperbolic tangent function is proposed,and a terminal attractor function is introduced to eliminate chattering.Secondly,a finite-time tracking control law based on a novel variable speed reaching law with deceleration points is designed.The system has faster convergence speed when it is far from the deceleration point,and can effectively reduce the chattering when it is close to the deceleration point.Under the action of this control law,the followers can track the leaders speed and position better by using the obtained control input information.Finally,the simulation results verify the effectiveness of the proposed algorithm.