Sliding mode control-based algorithms for consensus in connected swarms

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

“…The dynamics of δ(t) are obtained by differentiating (21) and considering (13) and (10), which yieldṡ…”

“…The authors show that finite time consensus is achieved provided that the network topology stays connected for sufficiently long intervals of time. In [20] and [21], finitetime consensus algorithms are provided for networks of unperturbed integrators by exploiting discontinuous local interaction rules under time varying (both undirected and directed) network topologies. In [22], the authors study discontinuous binary protocols for finite time consensus in directed graphs.…”

Consensus with a reference state for fractional-order multi-agent systems

“…In 2008, consensus problem of MASs with time delay (Lin et al, 2008) was studied using the linear matrix inequality method. In addition, various control laws were designed using different techniques (Dong, 2012;Rao & Ghose, 2011;Wen, Li, Duan, & Chen, 2013), such as adaptive control approach, sliding mode control method and distributed pinning control method and so on.…”

Finite-time consensus on the median value by discontinuous control

“…Protocols that achieve consensus on the average of the initial states (or on a generic arbitrary value) in finitetime can be found in [12], [13] and [14] for undirected, directed and time-varying network topologies. In [15] and [16] the case of finite time consensus for single integrators and second order systems with unknown non-linear dynamics is investigated by considering continuous local interactions.…”