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Finite-time consensus protocols for multi-dimensional multi-agent systems
JieqiangWei,BartBesselink,JunfengWu,HenrikSandberg,KarlH.Johansson
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(Ericsson Global AI Accelerator, Torshamnsgatan 21, Stockholm, Sweden;Bernoulli Institute for Mathematics, Computer Science and Artificial Intelligence, University of Groningen, P.O. Box 407, 9700, Groningen, AK, The Netherlands;College of Control Science and Engineering, Zhejiang University, 310027, Hangzhou, China;Division of Decision and Control Systems, KTH Royal Institute of Technology, 10044, Stockholm, Sweden)
摘要:
A finite-time consensus protocol is proposed for multi-dimensional multi-agent systems, using direction-preserving signum controls. Filippov solutions and nonsmooth analysis techniques are adopted to handle discontinuities. Sufficient and necessary conditions are provided to guarantee infinite-time convergence and boundedness of the solutions. It turns out that the number of agents which have continuous control law plays an essential role in finite-time convergence. In addition, it is shown that the unit balls introduced by ?p norms, where p∈[1,∞], are invariant for the closed loop.
关键词:  Multi-agent systems · Network consensus · Finite-time convergence · Nonsmooth analysis
DOI:https://doi.org/10.1007/s11768-020-00022-y
基金项目:
Finite-time consensus protocols for multi-dimensional multi-agent systems
Jieqiang Wei,Bart Besselink,Junfeng Wu,Henrik Sandberg,Karl H. Johansson
(Ericsson Global AI Accelerator, Torshamnsgatan 21, Stockholm, Sweden;Bernoulli Institute for Mathematics, Computer Science and Artificial Intelligence, University of Groningen, P.O. Box 407, 9700, Groningen, AK, The Netherlands;College of Control Science and Engineering, Zhejiang University, 310027, Hangzhou, China;Division of Decision and Control Systems, KTH Royal Institute of Technology, 10044, Stockholm, Sweden)
Abstract:
A finite-time consensus protocol is proposed for multi-dimensional multi-agent systems, using direction-preserving signum controls. Filippov solutions and nonsmooth analysis techniques are adopted to handle discontinuities. Sufficient and necessary conditions are provided to guarantee infinite-time convergence and boundedness of the solutions. It turns out that the number of agents which have continuous control law plays an essential role in finite-time convergence. In addition, it is shown that the unit balls introduced by ?p norms, where p∈[1,∞], are invariant for the closed loop.
Key words:  Multi-agent systems · Network consensus · Finite-time convergence · Nonsmooth analysis