Open AccessFinite-time consensus in directed switching network topologies and time-delayed communications
Author(s) -
Hassan Salarieh,
Mohammadreza Doostmohammadian
Publication year - 2011
Publication title -
scientia iranica
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.299
H-Index - 51
eISSN - 2345-3605
pISSN - 1026-3098
DOI - 10.1016/j.scient.2011.03.010
Subject(s) - network topology , consensus , computer science , lipschitz continuity , convergence (economics) , control theory (sociology) , double integrator , multi agent system , topology (electrical circuits) , mathematical optimization , mathematics , control (management) , computer network , artificial intelligence , mathematical analysis , combinatorics , economics , economic growth
There are many practical situations where it is desirable or even required to achieve stable convergence in the finite-time domain. In this paper, a simple distributed continuous-time protocol is introduced that guarantees finite-time consensus in networks of autonomous agents. Protocol convergence in weighted directed/undirected and fixed/switching networks is explored based on a Lyapunov analysis. The stability of the system and the solvability of the consensus algorithm are proved for network topologies that contain a spanning tree frequently enough over contiguous time intervals. The decision value for different topologies and for multi-rate integrator agents is investigated, and a novel approach is proposed to determine the leader subgroup of agents. Communication time-delay and chattering phenomenon in the system are assessed, and additionally some protocols with Lipschitz right-hand sides are introduced. Herein, all proposed consensus strategies use a limited-gain control input to account for the physical limitation of control actuation devices, which, in general, are subject to amplitude saturation