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access icon free Finite-time consensus for second-order multi-agent systems with saturated control protocols

  • Author(s): Yu Zhao 1 ; Zhisheng Duan 1 ; Guanghui Wen 2
    • View affiliations
    • Affiliations: 1: State Key Laboratory for Turbulence and Complex Systems, Department of Mechanics and Engineering Science, College of Engineering, Peking University, Beijing 100871, People's Republic of China;
      2: Department of Mathematics, Southeast University, Nanjing 210096, People's Republic of China
  • Source: Volume 9, Issue 3, 05 February 2015, p. 312 – 319
    DOI:  10.1049/iet-cta.2014.0061 , Print ISSN 1751-8644, Online ISSN 1751-8652
© The Institution of Engineering and Technology
Received 17/02/2014, Accepted 25/05/2014, Revised 23/04/2014, Published 06/08/2014

This study investigates the distributed finite-time consensus problem of networked agents with second-order integrators. First of all, to achieve finite-time consensus, a saturated protocol is proposed based on both relative position and relative velocity measurements. In light of the tools from homogeneous theory, it is theoretically shown that the proposed protocol will guarantee finite-time consensus under bounded control inputs. Then, based only on the relative position measurements, an observer-type protocol is developed and employed for achieving finite-time consensus. Theoretical studies indicate that under the proposed algorithms, the states of the agents will achieve finite-time consensus without velocity measurements. Finally, the effectiveness of the theoretical results is illustrated by numerical simulations.

Inspec keywords: multi-agent systems; observers

Other keywords: saturated control protocols; observer-type protocol; numerical simulations; relative position measurement; relative velocity measurement; distributed finite-time consensus problem; second-order integrators; second-order multi-agent system

Subjects: Artificial intelligence (theory)

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