Finite-Time Stability of Continuous Autonomous Systems
SIAM Journal on Control and Optimization
Coordination and Geometric Optimization via Distributed Dynamical Systems
SIAM Journal on Control and Optimization
Brief paper: Reaching a consensus via pinning control
Automatica (Journal of IFAC)
Cooperative Control of Dynamical Systems: Applications to Autonomous Vehicles
Cooperative Control of Dynamical Systems: Applications to Autonomous Vehicles
Brief paper: Finite-time formation control for multi-agent systems
Automatica (Journal of IFAC)
Finite-time convergent gradient flows with applications to network consensus
Automatica (Journal of IFAC)
Adaptive cooperative tracking control of higher-order nonlinear systems with unknown dynamics
Automatica (Journal of IFAC)
Finite-time consensus and collision avoidance control algorithms for multiple AUVs
Automatica (Journal of IFAC)
Consensus on compact Riemannian manifolds
Information Sciences: an International Journal
Hi-index | 22.15 |
This paper investigates the finite-time distributed consensus problem for multi-agent systems using a binary consensus protocol and the pinning control scheme. Compared with other consensus algorithms which need the complete state or output information of neighbors, the proposed algorithm only requires sign information of the relative state measurements, that is, the differences between a node's state and that of its neighbors. This corresponds to only requiring a single-bit quantization error relative to each neighbor. This signum protocol is realistic in terms of observed behavior in animal groups, where relative motion is determined not by full time-signal measurements, but by coarse estimates of relative heading differences between neighbors. The signum protocol does not require explicit measurement of time signals from neighbors, and hence has the potential to significantly reduce the requirements for both computation and sensing. Analysis of discontinuous dynamical systems is used, including the Filippov solutions and set-valued Lie derivative. Based on the second-order information on the evolution of Lyapunov functions, the conditions that guarantee the finite-time consensus for the systems are identified. Numerical examples are given to illustrate the theoretical results.