Finite-time Consensus for Nonlinear Multi-agent Systems with Fixed Topologies

TL;DR

This paper develops finite-time consensus criteria for nonlinear multi-agent systems with fixed topologies, introducing new protocols and validating them through simulations.

Contribution

It proposes novel finite-time consensus protocols and sufficient criteria for nonlinear multi-agent systems with fixed directed networks.

Findings

Consensus achieved in finite time under specified conditions

New protocols effectively reach consensus in simulations

Criteria applicable to directed networks with spanning trees

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.