Finite-Time Consensus With Disturbance Rejection by Discontinuous Local Interactions in Directed Graphs

Abstract

In this technical note we propose a decentralized discontinuous interaction rule which allows to achieve consensus in a network of agents modeled by continuous-time first-order integrator dynamics affected by bounded disturbances. The topology of the network is described by a directed graph. The proposed discontinuous interaction rule is capable of rejecting the effects of the disturbances and achieving consensus after a finite transient time. An upper bound to the convergence time is explicitly derived in the technical note. Simulation results, referring to a network of coupled Kuramoto-like oscillators, are illustrated to corroborate the theoretical analysis.

Finite‐Time Consensus Problem for Second‐Order Multi‐Agent Systems Under Switching Topologies

“…In practical engineering applications, it looks desirable to achieve consensus in finite time. Compared to asymptotically stable control, the closed‐loop system with finite‐time convergence usually certifies faster convergence rates and better robustness to uncertainty and disturbance rejection .…”

“…In particular, it introduces a distributed continuous-time protocol to reach consensus in finite time and reduce the chattering together. Finally, the simulation results are also given to validate the proposed approach.better robustness to uncertainty and disturbance rejection [8][9][10].The finite-time consensus of multi-agent systems means that the states of all the agents reach an common agreement in finite time by employing an appropriate consensus protocol. It has been widely used in many areas, such as mobile robots [11,12], multiple spacecraft systems [13], tracking control [14], synchronous control [15,16], containment control [17], formation control [18], and attitude control [19,20].In reality, the second-order multi-agent network model is an important model of multi-agent systems.…”

Distributed Discrete-Time Optimization in Multiagent Networks Using Only Sign of Relative State

“…Consider the following penalized problem (6) is equivalent to problem (22), which implies Claim 2 as well.…”

Tracking Consensus of General Nonlinear Multiagent Systems With External Disturbances Under Directed Networks

“…[9] analyzed the tracking consensus problem for first-order multi-agent systems. [19] and [20] further considered the finite-time and fixed-time consensus problems for first-order multi-agent systems, respectively. [13] provided some necessary and sufficient conditions for achieving secondorder asymptotical consensus.…”