期刊
SYSTEMS & CONTROL LETTERS
卷 62, 期 10, 页码 880-889出版社
ELSEVIER SCIENCE BV
DOI: 10.1016/j.sysconle.2013.06.011
关键词
Finite-time consensus; Adaptive control; Multi-agent system
资金
- Natural Science Foundation of China [61273183, 61074091, 61174216]
- Nature Science Foundation of Hubei Province [2011CDB187]
- Scientific Innovation Team Project of Hubei Provincial College [T200809, T201103]
This paper is concerned with the finite-time consensus problem of distributed agents having non-identical unknown nonlinear dynamics, to a leader agent that also has unknown nonlinear control input signal. By parameterization of unknown nonlinear dynamics, a Lyapunov technique in conjunction with homogeneity technique is presented for designing a decentralized adaptive finite-time consensus control protocol in undirected networks. Homogeneous Lyapunov functions and homogeneous vector fields are introduced in the stability analysis although the whole system is not homogeneous. Theoretical analysis shows that leader-following consensus can be achieved in finite-time, meanwhile, finite-time parameter convergence can be also guaranteed under the proposed control scheme. An example is given to validate the theoretical results. (C) 2013 Elsevier B.V. All rights reserved.
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