Finite-time consensus for multi-agent systems via nonlinear control protocols

Authors:
Ya-Kun Zhu;Xin-Ping Guan;Xiao-Yuan Luo
Affiliations:
Institute of Electrical Engineering, Yanshan University, Qinhuangdao, China 066004;Institute of Electrical Engineering, Yanshan University, Qinhuangdao, China 066004 and School of Electronic, Information and Electrical Engineering, Shanghai Jiao Tong University, Shanghai, China ...;Institute of Electrical Engineering, Yanshan University, Qinhuangdao, China 066004
Venue:
International Journal of Automation and Computing
Year:
2013

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Abstract

This paper investigates the finite-time consensus problem of multi-agent systems with single and double integrator dynamics, respectively. Some novel nonlinear protocols are constructed for first-order and second-order leader-follower multi-agent systems, respectively. Based on the finite-time control technique, the graph theory and Lyapunov direct method, some theoretical results are proposed to ensure that the states of all the follower agents can converge to its leader agent's state in finite time. Finally, some simulation results are presented to illustrate the effectiveness of our theoretical results.