Finite-Time Consensus Problems for Networks of Dynamic Agents

Finite-Time Consensus Problems for Networks of Dynamic Agents

February 2, 2008 | Long Wang and Feng Xiao
This paper addresses finite-time state consensus problems for continuous-time multi-agent systems and presents two distributed protocols that ensure the states of agents reach an agreement in a finite time. The authors use finite-time Lyapunov functions to derive conditions that guarantee the effectiveness of these protocols. One of the protocols solves the finite-time weighted-average consensus problem and can be applied to systems with switching topology. Upper bounds of convergence times are established, and simulations demonstrate the effectiveness of the proposed methods. The main contributions include the development of two effective distributed protocols for finite-time consensus and the establishment of conditions for their effectiveness using finite-time Lyapunov stability theory. The paper also discusses the impact of communication topology on convergence time, showing that large algebraic connectivity can significantly reduce convergence time.This paper addresses finite-time state consensus problems for continuous-time multi-agent systems and presents two distributed protocols that ensure the states of agents reach an agreement in a finite time. The authors use finite-time Lyapunov functions to derive conditions that guarantee the effectiveness of these protocols. One of the protocols solves the finite-time weighted-average consensus problem and can be applied to systems with switching topology. Upper bounds of convergence times are established, and simulations demonstrate the effectiveness of the proposed methods. The main contributions include the development of two effective distributed protocols for finite-time consensus and the establishment of conditions for their effectiveness using finite-time Lyapunov stability theory. The paper also discusses the impact of communication topology on convergence time, showing that large algebraic connectivity can significantly reduce convergence time.
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