Distributed Finite Time Consensus of Secondorder Multi-agent Systems via Pinning Control (August 2018)

Area of Science:

• Control Theory
• Systems Engineering
• Robotics

Background:

• Achieving consensus in multi-agent systems is crucial for coordinated behavior.
• Finite-time control offers faster convergence compared to traditional methods.
• Disturbances and the complexity of second-order systems pose significant challenges.

Purpose of the Study:

• To investigate robust distributed finite-time consensus for second-order multi-agent systems.
• To develop a new nonsingular finite-time terminal sliding mode (TSM) control method.
• To address systems with external disturbances using pinning control.

Main Methods:

• Proposed a novel nonsingular finite-time TSM control for a single second-order system with disturbances.
• Utilized a pinning control strategy based on a pinning error function vector.
• Developed a robust distributed control framework for multi-agent systems.

Main Results:

• Demonstrated the achievement of robust distributed finite-time consensus.
• The proposed TSM control method effectively handles disturbances in second-order systems.
• Simulation results validated the theoretical findings on finite-time consensus.

Conclusions:

• The developed pinning control strategy ensures robust finite-time consensus in second-order multi-agent systems.
• The nonsingular finite-time TSM control is effective for systems with disturbances.
• The study provides a valuable theoretical and practical framework for consensus problems.