Brief paper: Finite-time consensus algorithm for multi-agent systems with double-integrator dynamics

  • Authors:

  • Shihua Li;Haibo Du;Xiangze Lin

  • Affiliations:

  • School of Automation, Southeast University, Nanjing 210096, PR China;School of Automation, Southeast University, Nanjing 210096, PR China;College of Engineering, Nanjing Agricultural University, Nanjing 210031, PR China

  • Venue:
  • Automatica (Journal of IFAC)
  • Year:
  • 2011

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Abstract

In this paper, we discuss the finite-time consensus problem for leaderless and leader-follower multi-agent systems with external disturbances. Based on the finite-time control technique, continuous distributed control algorithms are designed for these agents described by double integrators. Firstly, for the leaderless multi-agent systems, it is shown that the states of all agents can reach a consensus in finite time in the absence of disturbances. In the presence of disturbances, the steady-state errors of any two agents can reach a region in finite time. Secondly, for the leader-follower multi-agent systems, finite-time consensus algorithms are also designed based on distributed finite-time observers. Rigorous proof is given by using Lyapunov theory and graph theory. Finally, one example is employed to verify the efficiency of the proposed method.