Finite-Time Consensus of Multiagent Systems With a Switching Protocol

Abstract

In this paper, we study the problem of finite-time consensus of multiagent systems on a fixed directed interaction graph with a new protocol. Existing finite-time consensus protocols can be divided into two types: 1) continuous and 2) discontinuous, which were studied separately in the past. In this paper, we deal with both continuous and discontinuous protocols simultaneously, and design a centralized switching consensus protocol such that the finite-time consensus can be realized in a fast speed. The switching protocol depends on the range of the initial disagreement of the agents, for which we derive an exact bound to indicate at what time a continuous or a discontinuous protocol should be selected to use. Finally, we provide two numerical examples to illustrate the superiority of the proposed protocol and design method.