International Journal of Control · 2013 · 647 citations · 17 references
EngineeringSystems EngineeringComplex SystemsDistributed SystemsDynamical SystemsConsensus AlgorithmsConsensus ProtocolsDecentralized ControlDistributed ControlMulti-agent SystemsNetwork DynamicsConsensus ControlConsensus In Multi-agent SystemsConvergenceConvergence TimeFinite-time ConsensusLyapunov FunctionsNumerical SimulationSettling Time
The study investigates finite‑time consensus for multi‑agent systems with undirected network topology. The authors design a new class of global, continuous, time‑invariant consensus protocols for single‑integrator agents, derived via Lyapunov functions. They prove that the protocols guarantee an upper‑bounded settling time for any initial conditions, enabling offline design of convergence time for a given undirected graph and agent group size, and validate the approach with a numerical simulation.
This paper is devoted to investigating the finite-time consensus problem for a multi-agent system in networks with undirected topology. A new class of global continuous time-invariant consensus protocols is constructed for each single-integrator agent dynamics with the aid of Lyapunov functions. In particular, it is shown that the settling time of the proposed new class of finite-time consensus protocols is upper bounded for arbitrary initial conditions. This makes it possible for network consensus problems that the convergence time is designed and estimated offline for a given undirected information flow and a group volume of agents. Finally, a numerical simulation example is presented as a proof of concept.
17