Journal ArticleDOI
Distributed robust finite-time nonlinear consensus protocols for multi-agent systems
Zongyu Zuo,Lin Tie +1 more
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It is shown that the finite settling time of the proposed general framework for robust consensus design is upper bounded for any initial condition, which 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.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.read more
Citations
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Nonsingular fixed-time consensus tracking for second-order multi-agent networks
TL;DR: This paper investigates the fixed-time consensus tracking problem for second-order multi-agent systems in networks with directed topology with a proposed framework that eliminates the singularity and the settling time is assignable for any initial conditions.
Journal ArticleDOI
Fixed-Time Consensus Tracking for Multiagent Systems With High-Order Integrator Dynamics
TL;DR: A new cascade control structure, based on a fixed-time distributed observer, is developed to achieve the fixed- time consensus tracking control for high-order integrator multiagent systems subject to matched external disturbances.
Journal ArticleDOI
An Overview of Recent Advances in Fixed-Time Cooperative Control of Multiagent Systems
TL;DR: An overview of recent advances in fixed-time cooperative control of multiagent systems is presented and several challenging issues that need to be addressed in the near future are raised.
Journal ArticleDOI
Non-singular fixed-time terminal sliding mode control of non-linear systems
TL;DR: In this article, a fixed-time terminal sliding-mode control methodology for a class of second-order nonlinear systems in the presence of matched uncertainties and perturbations is presented.
Journal ArticleDOI
Fixed-Time Synchronization of Complex Networks With Impulsive Effects via Nonchattering Control
TL;DR: This paper proposes a new Lyapunov function, which is continuous and does not include any sign function, and hence, the chattering phenomenon in most of the existing results is overcome and an optimal algorithm is proposed for the estimation of the settling time.
References
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Journal ArticleDOI
Consensus problems in networks of agents with switching topology and time-delays
TL;DR: A distinctive feature of this work is to address consensus problems for networks with directed information flow by establishing a direct connection between the algebraic connectivity of the network and the performance of a linear consensus protocol.
Journal ArticleDOI
Coordination of groups of mobile autonomous agents using nearest neighbor rules
Ali Jadbabaie,Jie Lin,A.S. Morse +2 more
TL;DR: A theoretical explanation for the observed behavior of the Vicsek model, which proves to be a graphic example of a switched linear system which is stable, but for which there does not exist a common quadratic Lyapunov function.
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Consensus seeking in multiagent systems under dynamically changing interaction topologies
Wei Ren,Randal W. Beard +1 more
TL;DR: It is shown that information consensus under dynamically changing interaction topologies can be achieved asymptotically if the union of the directed interaction graphs have a spanning tree frequently enough as the system evolves.
Journal ArticleDOI
Finite-Time Stability of Continuous Autonomous Systems
TL;DR: It is shown that the regularity properties of the Lyapunov function and those of the settling-time function are related and converse Lyap Unov results can only assure the existence of continuous Lyap unov functions.
Journal ArticleDOI
Information consensus in multivehicle cooperative control
TL;DR: Theoretical results regarding consensus-seeking under both time invariant and dynamically changing communication topologies are summarized in this paper, where several specific applications of consensus algorithms to multivehicle coordination are described.