Finite-Time Consensus of Nonlinear Multi-Agent Systems in the Presence of Unknown Communication Time Delays and Partial Access to Neighboring Agents Signals

Sharifi Maryam

doi:10.35840/2631-5106/4129

Abstract

Finite-Time Consensus of Nonlinear Multi-Agent Systems in the Presence of Unknown Communication Time Delays and Partial Access to Neighboring Agents Signals

Highlights

In the past few decades, distributed cooperative control of multi-agent systems has been extensively studied [1]
Among different types of group coordination such as formation, flocking, coverage, rendezvous, etc, consensus over multi-agent systems has a wide variety of applications
A consensus scheme is often applied to other types of multi-agent system coordination

Summary

Introduction

In the past few decades, distributed cooperative control of multi-agent systems has been extensively studied [1]. In [9], distributed adaptive finite-time continuous control algorithms for leaderless consensus of nonlinear mechanical multi-agent systems under an undirected graph are suggested and transient performance in terms of convergence rates is analyzed. There are some few works considering the finite-time stability of time-delayed linear systems (see [18]) but none of them are applied for control of nonlinear multi-agent systems. Works for a large class of nonlinear systems These A communication graph G is denoted by G = (V, characteristics extend the generalization of the pro- E, A), where V = {1, ..., N} is a finite nonempty node posed consensus control algorithm. The neighboring agent signals, which is a prevalent In this paper, we consider both undirected and condition in many practical multi-agent systems, directed communication graph topologies. It will be concluded that each row of the matrix M is perpendicular to 1N λ0 ×1

N 1

Simulation Results

Conclusions