Adaptive finite-time consensus in multi-agent networks |
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Authors: | Hui Yu Yanjun Shen Xiaohua Xia |
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Affiliation: | 1. College of Science, China Three Gorges University, Yichang 443002, China;2. Centre of New Energy Systems, Department of Electrical, Electronics and Computer Engineering, University of Pretoria, Pretoria 0002, South Africa |
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Abstract: | This paper is concerned with the finite-time consensus problem of distributed agents having non-identical unknown nonlinear dynamics, to a leader agent that also has unknown nonlinear control input signal. By parameterization of unknown nonlinear dynamics, a Lyapunov technique in conjunction with homogeneity technique is presented for designing a decentralized adaptive finite-time consensus control protocol in undirected networks. Homogeneous Lyapunov functions and homogeneous vector fields are introduced in the stability analysis although the whole system is not homogeneous. Theoretical analysis shows that leader-following consensus can be achieved in finite-time, meanwhile, finite-time parameter convergence can be also guaranteed under the proposed control scheme. An example is given to validate the theoretical results. |
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Keywords: | Finite-time consensus Adaptive control Multi-agent system |
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