Distributed robust finite-time nonlinear consensus protocols for multi-agent systems

Abstract

This paper investigates the robust finite-time consensus problem of multi-agent systems in networks with undirected topology. Global nonlinear consensus protocols augmented with a variable structure are constructed with the aid of Lyapunov functions for each single-integrator agent dynamics in the presence of external disturbances. In particular, it is shown that the finite settling time of the proposed general framework for robust consensus design is upper bounded for any initial condition. This makes it possible for network consensus problems to design and estimate the convergence time offline for a multi-agent team with a given undirected information flow. Finally, simulation results are presented to demonstrate the performance and effectiveness of our finite-time protocols.

Keywords:

• distributed control
• finite-time stability
• multi-agents
• network consensus
• undirected graph
• variable structure

Additional information

Funding

This work was supported by the National Natural Science Foundation of China [grant number 61203022], [grant number 61203231], [grant number 61074010]; the Aeronautic Science Foundation of China [grant number 2012CZ51029].

Notes on contributors

Zongyu Zuo

Zongyu Zuo received his BS degree in automatic control from Central South University, Hunan, China, in 2005, and PhD degree in control theory and applications from Beihang University (formerly Beijing University of Aeronautics and Astronautics), Beijing, China, in 2011. He is currently an assistant professor at the School of Automation Science and Electrical Engineering, Beihang University. His research interests are in the fields of nonlinear system control, control of unmanned aerial vehicles, and coordination of multi-agent system.

Lin Tie

Lin Tie received his BS and PhD degrees from Beihang University (Beijing University of Aeronautics and Astronautics), Beijing, China, in 2005 and 2011, respectively. He worked as a postdoctoral fellow at Beihang University from 2011 to 2013. Currently, he is an assistant professor at the School of Automation Science and Electrical Engineering, Beihang University. His research interests include nonlinear control systems, discrete-time systems, and matrix analysis.