Finite-Time Consensus with a Time-Varying Reference State and Switching Topology

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.

Weighted Consensus Problem for Multiagent Systems with Edge- and Node-Weighted Directed Graphs

“…e coupling strength and feedback gain matrix K are chosen as (16) and (14), respectively. en, the multiagent system can achieve weighted consensus via the distributed protocols (15).…”

“…e pioneering work [6] gave the theoretical explanation for the consensus behavior of the well-known Vicsek's model. Till now, a great number of interesting and useful results have been established for the consensus problems with di erent agent's dynamics, including rst-order systems [6][7][8], second-order systems [9], general linear system [10][11][12], descriptor system [13], discrete-time systems [14], time-delay systems [15], fractional-order systems [16], and nonlinear system [17]. In many practical systems, some state variables cannot be obtained directly due to the technical constraints or economic cost.…”