期刊
AUTOMATICA
卷 50, 期 10, 页码 2648-2656出版社
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.automatica.2014.08.028
关键词
Consensus; Cooperative control; Nonlinear dynamics; Multi-agent systems; Finite-time convergence
资金
- National Science Foundation [ECCS-1307678]
- National Research Council Research Associateship Award at AFRL
- Directorate For Engineering
- Div Of Electrical, Commun & Cyber Sys [1307678] Funding Source: National Science Foundation
The objective of this paper is to analyze the finite-time convergence of a nonlinear but continuous consensus algorithm for multi-agent networks with unknown inherent nonlinear dynamics. Due to the existence of the unknown inherent nonlinear dynamics, the stability analysis and the finite-time convergence analysis are more challenging than those under the well-studied consensus algorithms for known linear systems. For this purpose, we propose a novel comparison based tool. By using this tool, it is shown that the proposed nonlinear consensus algorithm can guarantee finite-time convergence if the directed switching interaction graph has a directed spanning tree at each time interval. Specifically, the finite-time convergence is shown by comparing the closed-loop system under the proposed consensus algorithm with some well-designed closed-loop system whose stability properties are easier to obtain. Moreover, the stability and the finite-time convergence of the closed-loop system using the proposed consensus algorithm under a (general) directed switching interaction graph can even be guaranteed by the stability and the finite-time convergence of some well-designed nonlinear closed-loop system under some special directed switching interaction graph. This provides a stimulating example for the potential applications of the proposed comparison based tool in the stability analysis of linear/nonlinear closed-loop systems by making use of known results in linear/nonlinear systems. (C) 2014 Elsevier Ltd. All rights reserved.
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