Finite-time Consensus Protocols for Multi-dimensional Multi-agent Systems

2017/05/05 by Wei, Jieqiang, Besselink, Bart, Wu, Junfeng +2
#FOS: Mathematics #Optimization and Control (math.OC)

paper · doi:10.48550/arxiv.1705.02189

Abstract

Two finite-time consensus protocols are proposed for multi-dimensional multi-agent systems, using direction-preserving and component-wise signum controls respectively. Filippov solutions and non-smooth analysis techniques are adopted to handle discontinuities. Sufficient and necessary conditions are provided to guarantee finite-time convergence and boundedness of the solutions. It turns out that the number of agents which have continuous control law plays an essential role for finite-time convergence. In addition it is shown that the unit balls introduced by ℓ_p and ℓ_∞ norms are invariant for these two protocols respectively.

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