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Finite-time consensus algorithm for multi-agent systems with double-integrator dynamics
- Source :
-
Automatica . Aug2011, Vol. 47 Issue 8, p1706-1712. 7p. - Publication Year :
- 2011
-
Abstract
- Abstract: In this paper, we discuss the finite-time consensus problem for leaderless and leader–follower multi-agent systems with external disturbances. Based on the finite-time control technique, continuous distributed control algorithms are designed for these agents described by double integrators. Firstly, for the leaderless multi-agent systems, it is shown that the states of all agents can reach a consensus in finite time in the absence of disturbances. In the presence of disturbances, the steady-state errors of any two agents can reach a region in finite time. Secondly, for the leader–follower multi-agent systems, finite-time consensus algorithms are also designed based on distributed finite-time observers. Rigorous proof is given by using Lyapunov theory and graph theory. Finally, one example is employed to verify the efficiency of the proposed method. [Copyright &y& Elsevier]
Details
- Language :
- English
- ISSN :
- 00051098
- Volume :
- 47
- Issue :
- 8
- Database :
- Academic Search Index
- Journal :
- Automatica
- Publication Type :
- Academic Journal
- Accession number :
- 63567817
- Full Text :
- https://doi.org/10.1016/j.automatica.2011.02.045