Abstract
The finite-time consensus problem in the networks of multiple mobile agents is comprehensively investigated. In order to resolve this problem, a novel nonlinear information exchange protocol is proposed. The proposed protocol ensures that the states of the agents are converged to a weighted-average consensus in finite time if the communication topology is a weighted directed graph with a spanning tree and each strongly connected component is detail-balanced. Furthermore, the proposed protocol is also able to solve the finite-time consensus problem of networks with a switching topology. Finally, computer simulations are presented to demonstrate and validate the effectiveness of the theoretical analysis under the proposed protocol.
Highlights
IntroductionThe cooperative control has received considerable attention mainly due to its broad applications to multiagent systems such as the state consensus seeking of multiple mobile vehicles [1,2,3], flocking, rendezvous, and containment in natural and social systems [4,5,6,7,8,9], analysis and control of cyberphysical networks [10], and distributed control and dispatching in smart grids [11,12,13,14,15,16,17]
The researchers have mainly focused on the following two issues: one is the determination of the weakest and the simplest communication topology under which the given protocol can ensure the agents reach an agreement; the second is the design of a protocol to ensure that the states of the agents are converged to consensus under the given interaction topology
From the definition of Gc(A), the following facts can be obtained: (i) The dynamic behaviors of agents belonging to the vertex set that corresponds to the root vertex of Gc(A) are not affected by others and the local interaction topology among them is strongly connected and detail-balanced
Summary
The cooperative control has received considerable attention mainly due to its broad applications to multiagent systems such as the state consensus seeking of multiple mobile vehicles [1,2,3], flocking, rendezvous, and containment in natural and social systems [4,5,6,7,8,9], analysis and control of cyberphysical networks [10], and distributed control and dispatching in smart grids [11,12,13,14,15,16,17]. The consensus problem can be generally described as how to design appropriate protocols based on the local information under some communication topology to ensure that the concerned agents reach an agreement on certain quantities of interest. The enlargement of the algebraic connectivity can increase the convergence rate but still the protocols are unable to ensure that the states of the agents will reach a consensus in finite time. Wang and Xiao have studied the finitetime consensus problems and provided several finite-time consensus protocols to ensure that the multiagents reach a consensus in finite time with appropriate communication topology [30,31,32].
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Free) 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
