Finite-Time Consensus with a Time-Varying Reference State and Switching Topology

Abstract EN

The finite-time consensus problem in the networks of multiple mobile agents is comprehensively investigated.

In order to resolve this problem, a novel nonlinear information exchange protocol is proposed.

The proposed protocol ensures that the states of the agents are converged to a weighted-average consensus in finite time if the communication topology is a weighted directed graph with a spanning tree and each strongly connected component is detail-balanced.

Furthermore, the proposed protocol is also able to solve the finite-time consensus problem of networks with a switching topology.

Finally, computer simulations are presented to demonstrate and validate the effectiveness of the theoretical analysis under the proposed protocol.