Specified-time group consensus for general linear systems over directed graphs

Abstract

This paper studies the distributed specified-time group consensus control with hard settling-time constraint and milder communication topology constraint. To this end, we propose two distributed control schemes by employing a motion planning approach for the single- and double-integrator systems. Compared with the most existing works over undirected communication topologies, the underlying topology of each group is required to be directed graphs in our proposed distributed controllers. Furthermore, the root vertex of one group is allowed to belong to the other group. The convergence analysis is performed via the algebraic graph theory and matrix theory. The results show that the agents in the same group can reach consensus within any prespecified settling-time instead of a conservative upper bound of the settling-time. Moreover, the designed specified-time group consensus protocols do not require continuous information exchange. Finally, simulation results are provided to illustrate the effectiveness of the proposed methods.