期刊
IEEE TRANSACTIONS ON NETWORK SCIENCE AND ENGINEERING
卷 8, 期 1, 页码 613-624出版社
IEEE COMPUTER SOC
DOI: 10.1109/TNSE.2020.3047232
关键词
Protocols; Topology; Directed graphs; Symmetric matrices; Multi-agent systems; Laplace equations; Eigenvalues and eigenfunctions; Bipartite consensus; directed graphs; multi-agent systems; prescribed-time consensus
资金
- National Natural Science Foundation of China [61903258, 61973156, 61603180]
- Qatar National Research Fund [NPRP12C-0814-190012]
- Tencent Rhinoceros Birds Scientific Research Foundation for Young Teachers of Shenzhen University
- Natural Science Foundation of Jiangsu Province, China [BK20200068]
This work focuses on the analysis and protocol design problems of the prescribed-time interval bipartite consensus of multi-agent systems on signed and directed graphs, proposing a new distributed protocol. By introducing a series of well-structured Lyapunov functions, the technical difficulties arising from the asymmetrical Laplacian matrices of directed graphs are circumvented.
This work deals with the analysis and protocol design problems of the prescribed-time interval bipartite consensus of multi-agent systems on signed and directed graphs. A new distributed protocol with hybrid constant and time-varying feedbacks of local signed error is proposed, whose consensus time period is independent of the specific topology among agents and initial states of all agents. By introducing a series of well-structured Lyapunov functions, the technical difficulties arising from the asymmetrical Laplacian matrices of directed graphs are circumvented. The effectiveness of this prescribed-time protocol for multi-agent systems on signed digraphs with a spanning tree is proven both on structurally balanced digraphs and structurally unbalanced ones with a positive root subgraph. An illustrative simulation example and a prescribed-time bipartite formation experiment on a swarm of nano-quadcopters are implemented to show the validity and practicability of these proposed protocols.
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