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Finite-time consensus algorithm for multi-agent systems with double-integrator dynamics. (English) Zbl 1226.93014
Summary: We discuss the finite-time consensus problem for leaderless and leader-follower multi-agent systems with external disturbances. Based on the finite-time control technique, continuous distributed control algorithms are designed for these agents described by double integrators. Firstly, for the leaderless multi-agent systems, it is shown that the states of all agents can reach a consensus in finite time in the absence of disturbances. In the presence of disturbances, the steady-state errors of any two agents can reach a region in finite time. Secondly, for the leader-follower multi-agent systems, finite-time consensus algorithms are also designed based on distributed finite-time observers. A rigorous proof is given by using the Lyapunov theory and graph theory. Finally, one example is employed to verify the efficiency of the proposed method.

93A14Decentralized systems
94C15Applications of graph theory to circuits and networks
93D05Lyapunov and other classical stabilities of control systems
Full Text: DOI
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