Finite-time Consensus for Multi-agent Systems via Nonlinear Control Protocols  

作　　者：Ya-Kun Zhu Xin-Ping Guan Xiao-Yuan Luo 

机构地区：[1]Institute of Electrical Engineering, Yanshan University [2]School of Electronic, Information and Electrical Engineering, Shanghai Jiao Tong University

出　　处：《International Journal of Automation and computing》2013年第5期455-462,共8页国际自动化与计算杂志（英文版）

基　　金：supported by National Basic Research Program of China (973 Program) (No.2010CB731800);National Natural Science Foundation of China (Nos.60934003 and 61074065);Natural Science Foundation of Hebei Province (No.F2012203119)

摘　　要：This paper investigates the fnite-time consensus problem of multi-agent systems with single and double integrator dynamics,respectively.Some novel nonlinear protocols are constructed for frst-order and second-order leader-follower multi-agent systems,respectively.Based on the fnite-time control technique,the graph theory and Lyapunov direct method,some theoretical results are proposed to ensure that the states of all the follower agents can converge to its leader agent s state in fnite time.Finally,some simulation results are presented to illustrate the efectiveness of our theoretical results.This paper investigates the fnite-time consensus problem of multi-agent systems with single and double integrator dynamics,respectively.Some novel nonlinear protocols are constructed for frst-order and second-order leader-follower multi-agent systems,respectively.Based on the fnite-time control technique,the graph theory and Lyapunov direct method,some theoretical results are proposed to ensure that the states of all the follower agents can converge to its leader agent s state in fnite time.Finally,some simulation results are presented to illustrate the efectiveness of our theoretical results.

关 键 词：Finite-time consensus multi-agent systems nonlinear control protocol leader-follower single and double integratordynamics 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程] TN915.04[自动化与计算机技术—控制科学与工程]