Finite-time Consensus for Nonlinear Multi-agent Systems with Fixed Topologies

Details Finite-time Consensus for Nonlinear Multi-agent Systems with Fixed Topologies Finite-time Consensus for Nonlinear Multi-agent Systems with Fixed Topologies

2009-09-17

arxiv.org/abs/0909.3165v1

Computer Science

Information Theory

11 pages, 3 figures

Scientific paper

In this paper, we study finite-time state consensus problems for continuous nonlinear multi-agent systems. Building on the theory of finite-time Lyapunov stability, we propose sufficient criteria which guarantee the system to reach a consensus in finite time, provided that the underlying directed network contains a spanning tree. Novel finite-time consensus protocols are introduced as examples for applying the criteria. Simulations are also presented to illustrate our theoretical results.

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