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Finite-time Consensus for Nonlinear Multi-agent Systems with Fixed Topologies (0909.3165v1)
Published 17 Sep 2009 in cs.IT, cs.MA, math.IT, and math.OC
Abstract: In this paper, we study finite-time state consensus problems for continuous nonlinear multi-agent systems. Building on the theory of finite-time Lyapunov stability, we propose sufficient criteria which guarantee the system to reach a consensus in finite time, provided that the underlying directed network contains a spanning tree. Novel finite-time consensus protocols are introduced as examples for applying the criteria. Simulations are also presented to illustrate our theoretical results.
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