Finite-time consensus for heterogeneous multi-agent systems with mixed-order agents

Abstract

This paper studies the finite-time consensus for heterogeneous multi-agent systems composed of mixed-order agents over fixed and switching topologies. The control protocol of each agent using local information is designed and the detailed analysis of the finite-time consensus for fixed and switching interaction topologies is presented. The design of the finite-time consensus protocol is based on graph theory, matrix theory, and LaSalle’s invariance principle. Both theoretical studies and simulation results show the effectiveness of the proposed method and the correctness of the obtained theoretical results.

Keywords:

• finite-time consensus
• switching network
• mixed-order agents
• switching topology

Acknowledgements

The authors would like to thank the editors and reviewers for their valuable comments and suggestions, which helped to significantly improve the quality of this paper.

Additional information

Funding

This work is supported by the National Natural Science Foundation of China [grant number 61004042], [grant number 61073026], [grant number 61374171]; the Natural Science Foundation Project of CQ CSTC, China [grant number cstc2013jcyjA40018]; the Youth Science Research Project of Chongqing University of Posts and Telecommunications [grant number A2012-82]; the Doctor Start-up Foundation of Chongqing University of Posts and Telecommunications [grant number A2012-23].

Notes on contributors

Fenglan Sun

Fenglan Sun received her BS degree in college mathematics and information science in 2004 from Henan Normal University, Xinxiang, China, MS degree in applied mathematics in 2007, and PhD degree in control science and engineering in 2012, respectively, from Huazhong University of Science and Technology. She is currently working at College of Mathematics and Physics, University of Posts and Telecommunications. Her research interests include complex networks, hybrid systems, and consensus and cooperative control of multi-agent systems.

Wei Zhu

Wei Zhu was born in 1976. He received his BS degree in maths from Sichuan University in 1999, MS degree in control theory and control engineering from Chongqing University of Posts and Telecommunications in 2004, and his PhD degree in applied mathematics from Sichuan University in 2007. He did postdoctoral research at Academy of Mathematics and Systems Science, Chinese Academy of Sciences from 2008 to 2010. He is currently a professor at College of Mathematics and Physics, Chongqing University of Posts and Telecommunications, and a visiting research scholar at Polytechnic Institute of New York University. His research interests include consensus of multi-agent systems, stability theory of functional differential equations.