Abstract
Multi-robot consensus has been extensively applied in robotics. In this study, a new protocol is proposed to solve the finite-time average consensus problem. The protocol can improve the convergence rate. The upper bound of the convergence time is obtained. Analysis shows that there exists a limit value of the convergence time when the disagreement of initial states tends to be infinitely large, and the value is irrelevant to the initial states. The relationship between convergence time and initial states, communication topology, parameter is analysed. Lastly, the effectiveness of the results is verified by simulations.
Highlights
In recent years, many applications require a massive number of robots or vehicles to work cooperatively and accomplish a complicated task
The analysis result shows that there exists a limit value of the convergence time when the disagreement of initial states is infinitely large, and the value is irrelevant to the initial states
There exists a limit value of the convergence time when the disagreement of initial states is infinitely large, and the value is irrelevant to the initial states
Summary
Many applications require a massive number of robots or vehicles to work cooperatively and accomplish a complicated task. In the study by Wang et al.,[18] a linear term was added to the protocol to solve the finite-time average consensus problem, thereby improving the convergence performance. The main contributions of this study are threefold: (1) a new protocol is proposed to solve the finite-time average consensus problem, and it can improve the convergence rate.
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