Aiming at the cooperative control problem of multi-agent system, the fixed-time containment control of general second-order multi-agent system under mismatched disturbances is studied. Firstly, the problem of multi-agent system fixed-time containment control in ideal state is analyzed, and a distributed control protocol based on variable structure control is proposed. Then, a nonlinear fixed-time disturbance observer is designed, aiming at the mismatched disturbance, and a fixed-time control protocol based on the nonlinear disturbance observer is proposed. Finally, the effectiveness of the proposed control protocol under switching topology and multi-source disturbance is verified by numerical simulation.

中文翻译：

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多源失配扰动下多智能体系统定时遏制控制

针对多智能体系统的协同控制问题，研究了失配扰动下一般二阶多智能体系统的定时遏制控制。首先分析了理想状态下多智能体系统定时遏制控制问题，提出了一种基于变结构控制的分布式控制协议。然后，针对失配扰动，设计了非线性固定时间扰动观测器，并提出了基于非线性扰动观测器的固定时间控制协议。最后，通过数值仿真验证了所提出的控制协议在开关拓扑和多源扰动下的有效性。