Finite-time Consensus Protocols for Multi-dimensional Multi-agent Systems
Optimization and Control
2017-05-08 v1
Abstract
Two finite-time consensus protocols are proposed for multi-dimensional multi-agent systems, using direction-preserving and component-wise signum controls respectively. Filippov solutions and non-smooth analysis techniques are adopted to handle discontinuities. Sufficient and necessary conditions are provided to guarantee finite-time convergence and boundedness of the solutions. It turns out that the number of agents which have continuous control law plays an essential role for finite-time convergence. In addition it is shown that the unit balls introduced by and norms are invariant for these two protocols respectively.
Cite
@article{arxiv.1705.02189,
title = {Finite-time Consensus Protocols for Multi-dimensional Multi-agent Systems},
author = {Jieqiang Wei and Bart Besselink and Junfeng Wu and Henrik Sandberg and Karl H. Johansson},
journal= {arXiv preprint arXiv:1705.02189},
year = {2017}
}