Finite-time Consensus Of Multi-agent Systems Research Articles

Hyperbolic Tangent Function-Based Protocols for Global/Semi-Global Finite-Time Consensus of Multi-Agent Systems

Hyperbolic Tangent Function-Based Protocols for Global/Semi-Global Finite-Time Consensus of Multi-Agent Systems

Bipartite finite-time consensus of multi-agent systems with intermittent communication via event-triggered impulsive control

This paper concentrates on the bipartite finite-time consensus (BFTC) problem of nonlinear multi-agent systems (MASs) under intermittent communication via event-triggered impulsive control. First, a finite-time consensus (FTC) protocol with an event-triggered mechanism is developed for the MASs with nonlinear dynamics to save limited resources. Then, an impulsive control scheme is introduced to the designed algorithm to further improve the control performance. Based on the structurally balanced graph theory, both antagonistic and cooperative interactions are discussed in this article. Regarding whether the MASs have encountered intermittent communication, sufficient conditions are provided for achieving consensus of the MASs by using the Lyapunov theory and inductive methods. Moreover, the Zeno behavior is excluded. Finally, numerical simulations are given to validate the effectiveness of the algorithm. The result shows that the designed event-triggered BFTC control protocol with an impulsive strategy has a faster convergence rate than that without an impulsive strategy.

Fast Finite-Time Consensus for Multi-agent Systems with Diverse Topologies

Fast Finite-Time Consensus for Multi-agent Systems with Diverse Topologies

Finite-Time Adaptive Consensus Tracking Control Based on Barrier Function and Cascaded High-Gain Observer

This paper studies the consensus tracking control for a class of uncertain high-order nonlinear multi-agent systems under an undirected leader-following architecture. A novel distributed finite-time adaptive control framework is proposed based on the barrier function. The distributed cascaded high-gain observers are introduced to solve the problem of robust consensus tracking with unmeasured intermediate states in multi-agent systems based on the proposed control framework. The proposed control schemes guarantee the finite-time consensus of multi-agent systems, which is proven by the finite-time Lyapunov stability and singular perturbation theory. In conclusion, numerical simulations verify the proposed control protocols’ effectiveness, and their performance advantages are shown by comparing them with another existing method.

Fault-Tolerant Finite-Time Consensus of Multi-Agent Systems Under Asynchronous Self-Sensing Function Failures

Fault-Tolerant Finite-Time Consensus of Multi-Agent Systems Under Asynchronous Self-Sensing Function Failures

Finite-time Consensus of Multi-agent Systems via Time-based Event-triggered Control

Finite-time Consensus of Multi-agent Systems via Time-based Event-triggered Control

On Distributed Event-triggered Controller with Aperiodic Event Detection for Finite-time Consensus of Multi-agent Systems

On Distributed Event-triggered Controller with Aperiodic Event Detection for Finite-time Consensus of Multi-agent Systems

Leader-Follower finite-time consensus of multiagent systems with nonlinear dynamics by intermittent protocol

This paper deals with the leader-follower finite-time consensus problem for multiagent systems with nonlinear dynamics via intermittent protocol. The topological structure of the followers is undirected or balanced digraph. Different from most existing works concerning nonlinear dynamics (satisfies Lipschitz continuity), the nonlinear dynamics of each agent satisfies Hölder continuity in this paper. In light of the finite-time control technique, the intermittent control protocol is designed to reach accurate leader-follower finite-time consensus. It is justified that the leader-follower finite-time consensus can be realized if the length of communication is greater than a critical value by using limit theory. Finally, two numerical examples are exhibited to validate the effectiveness of the proposed scheme.

Finite-time consensus of multi-agent systems driven by hyperbolic partial differential equations via boundary control

Finite-time consensus of multi-agent systems driven by hyperbolic partial differential equations via boundary control

Finite-time dynamic event-triggered consensus of multi-agent systems with disturbances via integral sliding mode

In this paper, the finite-time consensus problem of multi-agent systems with disturbances is investigated. For the first time, the dynamic event-triggered mechanism is combined with the sliding mode control algorithm to develop a novel finite-time consensus control law. The finite-time consensus of multi-agent systems can be achieved with this control protocol in spite of system disturbances. Different from the asymptotic convergence under the dynamic triggering mechanism, by introducing dynamic parameters, the new triggering mechanism can ensure the finite-time consensus of the system states. The new dynamic triggering mechanism can extend the interevent time interval to avoid Zeno behaviour. Finally, the effectiveness of the proposed scheme is validated by simulation examples.

On Zeno Behavior in Event-Triggered Finite-Time Consensus of Multiagent Systems

This article studies Zeno behavior, where an infinite number of events occur in a finite-time interval, in the event-triggered multiagent systems that aim at achieving consensus in finite time. Two popular scenarios in the first-order multiagent systems with model-based event-triggered controllers are considered. One is that the event trigger in each agent samples the absolute information, and decides when to broadcast the information to its neighbors, and the other is that the update of control signals is only scheduled by the local event triggers via directly using the (combined) relative information. The events are triggered when the measurement error between the agent, and model states violates a given threshold function. Both cases are studied, where the threshold is generated by the agent state or by the model state. Then, sufficient conditions on the existence of Zeno behavior in event-triggered finite-time consensus of multiagent systems are provided. For the triggering conditions with the thresholds given by agent states, the system must exhibit Zeno behavior; while in the case of using model states, the existence of Zeno behavior is influenced by the properties of the communication topology, and the threshold functions. Finally, several simulations, and examples are provided to illustrate the effectiveness of the theoretical results.

Optimal Control on Finite-Time Consensus of the Leader-Following Stochastic Multiagent System With Heuristic Method

In this paper, the optimization of the finite-time consensus of a multiagent system is studied when the leader is disturbed by white noise. Different from the consensus problem itself, this paper is devoted to optimizing the performance of the consensus and the constructive method and martingale method are used to guarantee the effectiveness of the optimization. Another contribution is that the problem of the optimal control with the piecewise constant controller gains under a stochastic environment is solved, and the reformed dynamic principle and the reformed Hamilton–Jacobi–Bellman (HJB) partial differential equations (PDEs) are proposed by using the splitting method and Feynman–Kac formula. Furthermore, since the multiagent system often runs on a high-dimensional space, a heuristic method is proposed based on the derivation of the reformed HJB PDEs and the scalar of the computational complexity of the PDEs is equivalent to that of a system of ordinary differential equations with the same dimensions when the multiagent system can be described as a piecewise linear system. Finally, the heuristic method is compared with usual filtering methods for solving engineering problems by a numerical example and it is found that the heuristic method achieves higher precision in finite time.

Finite-time consensus for multi-agent systems with nonlinear dynamics under Euler digraph via pinning control

This paper addresses the finite-time consensus problem for multi-agent systems with nonlinear dynamics under Euler digraph. By pinning control technique, a nonlinear distributed protocol is proposed, which ensures that all the agents can be controlled to the pinner's trajectory in finite time. Furthermore, we solve the challenging and fundamental question that how many nodes should be pinned to reach finite-time consensus. A sufficient condition is proposed to achieve finite-time consensus for multi-agent systems with nonlinear dynamics under Euler digraph. It is found that adding communication connections or increasing feedback gains is an effective way to reduce the settling time. Finally, numerical simulations are presented to verify the effectiveness of the obtained theoretical results.

Distributed finite-time bipartite consensus of multi-agent systems on directed graphs: Theory and experiment in nano-quadcopters formation

This work deals with the analysis and protocol design problems of finite-time consensus for multi-agent systems on signed and directed networks. A new distributed protocol with two reciprocal fractional power feedbacks of local consensus error has been proposed to remove the influence of initial states on the consensus time. By introducing a well-structured Lyapunov function, the technical difficulty arising from the asymmetrical Laplacian matrices of directed graphs is circumvented. Furthermore, it is shown that the feasibility of this proposed protocol can be extended to directed graphs with a spanning tree by mathematical induction method. The upper bounds of the finite-time periods are given under the circumstances of directed networks with a spanning tree apart from the strongly-connected ones. This new protocol is then extended to the application of finite-time bipartite formation control of multi-agent systems. Simulations and experiments of bipartite formation of multiple nano-quadcopters are implemented to prove the validity and practicability of this new protocol. In the experiment, a novel fuzzy logic is also introduced to realize the group collision avoidance of all nano-quadcopters.

Finite-Time Consensus for Linear Multiagent Systems via Event-Triggered Strategy Without Continuous Communication

Taking into account multiagent systems with general linear dynamics and directed topologies, the issue of achieving finite-time consensus in a distributed event-triggered fashion is discussed in this paper. A novel model-based triggering function, which depends only on local information, is adopted. To ensure the finite-time convergence of the disagreement vector and the triggering error, a dynamic threshold, which is guaranteed to converge to zero in finite time, is adopted in the proposed triggering function design. By employing a novel distributed event-triggered controller for each agent, finite-time consensus of multiagent systems can be achieved. In the proposed approach, no continuous communication is needed in either controller updates or triggering detection. Furthermore, the triggering number is significantly reduced and the high frequency triggering is restrained. In addition, the feasibility of the proposed approach is guaranteed by the comprehensive theoretical demonstration of the finite-time consensus stability and the analysis of the Zeno behavior. Finally, numerical simulations are carried out to illustrate the effectiveness of our results.

Research on Finite-Time Consensus of Multi-Agent Systems

In order to ensure second-order multi-agent systems (MAS) realizing consensus more quickly in a limited time, a new protocol is proposed. In this new protocol, the gradient algorithm of the overall cost function is introduced in the original protocol to enhance the connection between adjacent agents and improve the moving speed of each agent in the MAS. Utilizing Lyapunov stability theory, graph theory and homogeneity theory, sufficient conditions and detailed proof for achieving a finite-time consensus of the MAS are given. Finally, MAS with three following agents and one leading agent is simulated. Moreover, the simulation results indicated that this new protocol could make the system more stable, more robust and convergence faster when compared with other protocols.

FURTHER IMPROVEMENT OF FINITE-TIME CONSENSUS PROTOCOLS FOR DETAIL-BALANCED NETWORKS

This paper presents a new class of protocols to solve finite-time consensus for multi-agent systems. The protocols are induced from the classical finite-time consensus algorithm by using the so-called protocol function. Sufficient conditions are established for networked agents to experience finite-time consensus under time-varying undirected and fixed directed topologies. Numerical simulations show that the proposed protocols can provide more flexibility to improve convergence rate.

Edge-Based Finite-Time Protocol Analysis With Final Consensus Value and Settling Time Estimations

The objective of this paper is to design the protocols with a final consensus value and settling time estimations for finite-time consensus of multiagent systems. A couple of new edge-based protocols are developed for multiple second-order nonlinear agents under bounded or Lipschitz-type nonlinear functions, respectively. The final consensus value of the multiagent system is obtained as an average expression. Further, to obtain the estimation of the finite settling time, a special Lyapunov function is constructed. Through the construction processes, both the final consensus value and the settling time are obtained. Finally, as applications, a finite-time formation controller based on the first protocol is designed for multiple mini-spacecraft, verified by simulations.

Finite-time consensus of multi-agent systems with continuous time-varying interaction topology

This study investigates the finite-time consensus problem of multi-agent systems with continuous time-varying interaction topology. A distributed consensus protocol is presented to make the multi-agent system locally or globally reach consensus in finite time. The protocol is also used to analyze finite-time consensus of the multi-agent systems with fixed topology or modified switching topology. Numerical simulations are presented to illustrate the effectiveness of the obtained results.

Discontinuous Observers Design for Finite-Time Consensus of Multiagent Systems With External Disturbances.

This brief investigates the problem of finite-time robust consensus (FTRC) for second-order nonlinear multiagent systems with external disturbances. Based on the global finite-time stability theory of discontinuous homogeneous systems, a novel finite-time convergent discontinuous disturbed observer (DDO) is proposed for the leader-following multiagent systems. The states of the designed DDO are then used to design the control inputs to achieve the FTRC of nonlinear multiagent systems in the presence of bounded disturbances. The simulation results are provided to validate the effectiveness of these theoretical results.This brief investigates the problem of finite-time robust consensus (FTRC) for second-order nonlinear multiagent systems with external disturbances. Based on the global finite-time stability theory of discontinuous homogeneous systems, a novel finite-time convergent discontinuous disturbed observer (DDO) is proposed for the leader-following multiagent systems. The states of the designed DDO are then used to design the control inputs to achieve the FTRC of nonlinear multiagent systems in the presence of bounded disturbances. The simulation results are provided to validate the effectiveness of these theoretical results.