Finite-time consensus for multi-agent systems with fixed topologies

Abstract

In this article, we study finite-time state consensus problems for continuous multi-agent systems with nonlinear protocols. 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.

Keywords:

• finite-time consensus
• multi-agent systems
• distributed control
• consensus protocols

Acknowledgements

The author would like to thank the anonymous reviewers for their fruitful comments and suggestions, which have made it possible to improve upon the original article.