论文标题
EDCHO：高阶精确动态共识
EDCHO: High Order Exact Dynamic Consensus
论文作者
论文摘要
本文解决了期望的共识数量是一个变化的信号时，解决了多代理系统中平均共识的问题。尽管线性方案在现有文献中已经解决了这个问题，但仅实现了有限的稳态错误。其他方法已使用一阶滑动模式来达到零稳态误差，但遭受了颤抖的效果。在这项工作中，我们提出了一种新的精确的动态共识算法，该算法利用高阶滑动模式，以分布式区分的形式，以达到一组代理中参考信号的平均时间变化的零稳态误差。此外，如果需要，我们的建议还能够达成平均信号的高阶导数的共识。关于无方向连接图的EDCHO的稳定性和收敛性的深入正式研究。最后，我们提出的有效性和优势是通过具体的模拟方案显示的。
This article addresses the problem of average consensus in a multi-agent system when the desired consensus quantity is a time varying signal. Although this problem has been addressed in existing literature by linear schemes, only bounded steady-state errors have been achieved. Other approaches have used first order sliding modes to achieve zero steady-state error, but suffer from the chattering effect. In this work, we propose a new exact dynamic consensus algorithm which leverages high order sliding modes, in the form of a distributed differentiator to achieve zero steady-state error of the average of time varying reference signals in a group of agents. Moreover, our proposal is also able to achieve consensus to high order derivatives of the average signal, if desired. An in depth formal study on the stability and convergence for EDCHO is provided for undirected connected graphs. Finally, the effectiveness and advantages of our proposal are shown with concrete simulation scenarios.
