Distributed robust finite-time nonlinear consensus protocols for multi-agent systems |
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| Authors: | Zongyu Zuo Lin Tie |
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| Affiliation: | 1. The Seventh Research Division, Beijing University of Aeronautics and Astronautics, Beijing, China;2. Science and Technology on Aircraft Control Laboratory, Beijing University of Aeronautics and Astronautics, Beijing, China;3. School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing, China;4. School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing, China |
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| Abstract: | This paper investigates the robust finite-time consensus problem of multi-agent systems in networks with undirected topology. Global nonlinear consensus protocols augmented with a variable structure are constructed with the aid of Lyapunov functions for each single-integrator agent dynamics in the presence of external disturbances. In particular, it is shown that the finite settling time of the proposed general framework for robust consensus design is upper bounded for any initial condition. This makes it possible for network consensus problems to design and estimate the convergence time offline for a multi-agent team with a given undirected information flow. Finally, simulation results are presented to demonstrate the performance and effectiveness of our finite-time protocols. |
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| Keywords: | distributed control finite-time stability multi-agents network consensus undirected graph variable structure |
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