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Distributed leader-following finite-time consensus control for linear multiagent systems under switching topology
Xiaole Xu1, Shengyong Chen2, Lixin Gao3
1Wenzhou Vocational College of Science & Technology, Zhejiang 325006, China ; College of Information Engineering, Zhejiang University of Technology, Zhejiang 310023, China.
Thescientificworldjournal
|June 3, 2014
Summary
This study addresses finite-time consensus in leader-following multiagent systems with switching topologies. New protocols ensure agents reach agreement quickly, even with limited state information, enhancing control system design.
Area of Science:
- Control Systems Engineering
- Networked Systems
- Robotics
Background:
- Multiagent systems are crucial for complex tasks.
- Achieving consensus (agreement) in finite time is a key challenge.
- Switching network topologies add complexity to consensus problems.
Purpose of the Study:
- Investigate finite-time consensus for leader-following multiagent systems.
- Develop control protocols for systems with switching and undirected topologies.
- Address scenarios with full state information and limited output information.
Main Methods:
- Design neighbor-based state feedback protocols for full state information.
- Propose distributed observer-based consensus protocols for output information.
- Utilize linear matrix inequalities for observer-based protocol design.
- Analyze both continuous-time and discrete-time systems.
Main Results:
- Established sufficient conditions for finite-time consensus using state feedback.
- Developed observer-based protocols enabling finite-time consensus under switching topologies.
- Demonstrated effectiveness through an illustrative example.
Conclusions:
- Finite-time consensus is achievable in leader-following multiagent systems.
- The proposed protocols effectively handle switching topologies and information constraints.
- The design approach is validated for both continuous and discrete-time systems.
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