Finite-time consensus algorithm for multi-agent systems with double-integrator dynamics |
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Authors: | Shihua Li Haibo Du Xiangze Lin[Author vitae] |
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Affiliation: | aSchool of Automation, Southeast University, Nanjing 210096, PR China;bCollege of Engineering, Nanjing Agricultural University, Nanjing 210031, PR China |
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Abstract: | In this paper, we discuss the finite-time consensus problem for leaderless and leader–follower multi-agent systems with external disturbances. Based on the finite-time control technique, continuous distributed control algorithms are designed for these agents described by double integrators. Firstly, for the leaderless multi-agent systems, it is shown that the states of all agents can reach a consensus in finite time in the absence of disturbances. In the presence of disturbances, the steady-state errors of any two agents can reach a region in finite time. Secondly, for the leader–follower multi-agent systems, finite-time consensus algorithms are also designed based on distributed finite-time observers. Rigorous proof is given by using Lyapunov theory and graph theory. Finally, one example is employed to verify the efficiency of the proposed method. |
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Keywords: | Finite-time consensus Multi-agent system Leaderless Leader&ndash follower Graph theory |
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