Control of Multiagent Networks as Systems: Finite-Time Algorithms, Time Transformation, and Separation Principle

Abstract

This paper contributes to the studies in control of multiagent networks as systems. This class of multiagent networks consists of floating agents (i.e., agents that exchange local information) and driver agents (i.e., agents that not only exchange local information but also take input and output roles), where control algorithms are applied to the actuators of the driver agents based on the measurements collected from their sensors for the purpose of influencing the overall behavior of the resulting system. Specifically, we consider time-critical applications in the control of multiagent networks as systems. To this end, a finite-time control approach is proposed based on a recent time transformation method. The key feature of this method is that it guarantees execution of control algorithms over a prescribed time interval $[0, T)$ , where $T$ is a user-defined convergence time, based on analysis performed over a stretched, infinite-time interval $[0, \infty)$ . Utilizing this method for finite-time control of multiagent networks as systems, we discuss user-defined finite-time convergence of the resulting system regardless of the initial conditions of agents and show a separation principle of the proposed time-critical algorithm. A numerical example is also presented to demonstrate the proposed system-theoretical results.