Average Consensus and Stability Analysis in Networked Dynamic Systems

Abstract

This paper provides protocols for finitetime average consensus and finitetime stability of systems with controlled nonlinear dynamics innetwork under undirected fixed topology. Each node’s state is a high dimensional vector as a solution of the highly nonlinear first order dynamics with and without drift terms. This paper provides protocols for finitetime average consensus and finitetime stability of systems with controlled nonlinear dynamics innetwork under undirected fixed topology. Each node’s state is high Under the proposed interaction rules, agreements as a common average value or an average trajectory are reached, solving finitetime average consensus and the multisystem equilibrium is controlled leading to the finitetime stability of each system origin. Sufficient conditions are achieved using the Lyapunov techniques and the graph theory. In networked dynamic systems, the theoretical results of the paper cover a large class of underactuated autonomous systems as formation flight, multivehicle coordination, and heterogeneous multisystem behaviors. Some examples are introduced in simulation which approves the proposed protocols.