Finite-Time Consensus of Double-Integrator Multi-Agent Systems with Time-Varying Directed Topologies | Zendy

Fang Wang | Zendy; Xin Chen | Zendy; Yong He | Zendy

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Finite-Time Consensus of Double-Integrator Multi-Agent Systems with Time-Varying Directed Topologies

Author(s) -

Fang Wang,

Xin Chen,

Yong He

Publication year - 2016

Publication title -

journal of advanced computational intelligence and intelligent informatics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.172

H-Index - 20

eISSN - 1343-0130

pISSN - 1883-8014

DOI - 10.20965/jaciii.2016.p0254

Subject(s) - consensus , network topology , computer science , double integrator , integrator , multi agent system , convergence (economics) , control theory (sociology) , directed graph , mathematical optimization , topology (electrical circuits) , mathematics , algorithm , control (management) , artificial intelligence , computer network , bandwidth (computing) , combinatorics , economics , economic growth , operating system

The finite-time consensus problem for double-integrator multi-agent systems (MASs) is studied using time-varying directed topologies. In detail, a distributed finite-time control protocol is designed to achieve the weighted average consensus on the basis of both relative position and relative velocity measurements by utilizing a homogeneous control technique. Then, on the basis of graph theory, homogeneity with dilation and LaSalle’s invariance principle, the designed finite-time consensus protocol ensures finite-time convergence to a consensus in the time-varying directed topologies without a global leader. Finally, some examples and simulation results are given to illustrate the effectiveness of the obtained theoretical results.

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