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A flexible protocol of finite-time consensus for second-order multi-agent systems with pinning control
Ziwei Zhang1, Xiuxia Yin1, Songlin Hu2
1The Department of Mathematics, School of Mathematics and Computer Sciences, Nanchang University, Nanchang, Jiangxi 330031, People's Republic of China.
ISA Transactions
|December 10, 2024
Summary
This study introduces a flexible protocol for second-order multi-agent systems to achieve finite-time consensus. It allows for inconsistent communication weights and nonlinear couplings, improving upon existing methods for distributed control systems.
Area of Science:
- Control Theory
- Robotics
- Networked Systems
Background:
- Finite-time consensus is crucial for coordinated behavior in multi-agent systems.
- Existing algorithms often require uniform communication weights and nonlinear couplings, limiting their applicability.
- Second-order systems present unique challenges due to coupled position and velocity dynamics.
Purpose of the Study:
- To develop a novel finite-time consensus protocol for second-order multi-agent systems.
- To address limitations of existing methods by allowing agent-specific communication weights and nonlinear couplings.
- To provide a settling time estimate dependent on initial conditions.
Main Methods:
- Design of a flexible continuous control protocol.
- Application of Lyapunov functional approach for stability analysis.
- Finite-time stability analysis to guarantee convergence.
Main Results:
- The proposed protocol achieves finite-time consensus for all agents in second-order systems.
- The settling time is estimated based on initial system states, without restrictive assumptions on parameters.
- Inconsistent communication weights and nonlinear couplings are effectively handled.
Conclusions:
- The developed protocol offers a more flexible and robust solution for finite-time consensus in second-order multi-agent systems.
- The findings advance the understanding and practical application of distributed control in complex systems.
- Simulation results validate the theoretical effectiveness of the proposed approach.
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