Stability and Robustness Analysis of Finite-Time Consensus Algorithm for Second-Order Multiagent Systems Under Sampled-Data Control

Abstract

The consensus problem for second-order multiagent systems based on nonsmooth sampled-data control is considered. First, a continuous-time nonsmooth consensus protocol is proposed, which can realize the consensus of systems in a finite time when the external disturbance is absent. Next, based on the sampled data and the zero-order holder, a new discrete-time nonsmooth protocol is proposed. Considering external disturbances, the explicit relationship between the ultimate boundary of errors of any two agents and the sampling period and external disturbance is given with the Lyapunov method and graph theory, which theoretically shows that the nonsmooth control algorithm has a stronger ability to resist external disturbance than the smooth control algorithm. Finally, a simulation example shows the superiority of the nonsmooth consensus algorithm over a smooth consensus algorithm.