Free‐will arbitrary time consensus protocols with diffusive coupling

DOI10.1002/RNC.6267MaRDI QIDQ6090277zbMATH OpenOpenAlexFDO

Authors Quoc Van Tran, Minh Hoang Trinh, Nam H. Nguyen, Hyo-Sung Ahn

Publication date 16 December 2023

Published in International Journal of Robust and Nonlinear Control (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/2108.07150

zbMATH Keywords

disturbancehigh-order integratormulti-agent systemsprespecified time consensusswitching graphs

Mathematics Subject Classification ID

Multi-agent systems (93A16) Finite-time stability (93D40) Consensus (93D50)

Abstract: In this technical note, we first clarify a technical issue in the convergence proof of a free-will arbitrary time (FwAT) consensus law proposed recently in Pal et al. IEEE Trans. Cybern. (2020)[1], making the results questionable. We then propose free-will arbitrary time consensus protocols for multi-agent systems with first- and second-order dynamics, respectively, and with (possibly switching) connected interaction graphs. Under the proposed consensus laws, we show that an average consensus is achieved in a free-will arbitrary prespecified time. Further, the proposed consensus laws are distributed in the sense that information is only communicated locally between neighboring agents; unlike the average consensus in [1] that uses a deformed Laplacian.

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Cited in

(4)

• Free-will arbitrary time consensus of heterogeneous nonlinear multi-agent systems
• Adaptive free-will arbitrary time tracking of a class of uncertain SISO nonlinear systems
• Leader-following consensus of heterogeneous nonlinear multi-agent systems within arbitrary pre-specified time
• Continuous robust formation tracking controllers for underactuated planar agents

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