Finite-time Non-overshooting Leader-following Consensus Control for Multi-Agent Systems

TL;DR

This paper proposes a nonlinear control protocol for multi-agent systems that guarantees finite-time consensus with no overshoot, ensuring rapid and stable leader-following behavior without initial state overshoot.

Contribution

It introduces a novel nonlinear consensus control method based on weighted homogeneity that achieves finite-time stability and non-overshooting in multi-agent systems.

Findings

The control protocol guarantees finite-time convergence.

Agents follow the leader without overshoot in the first state component.

Simulations confirm the effectiveness of the proposed method.

Abstract

This paper addresses the finite-time non-overshooting leader-following consensus problem for multi-agent systems, whose agents are modeled by a dynamical system topologically equivalent to the integrator chain. Based on the weighted homogeneity, a nonlinear consensus control protocol is designed. A tuning scheme ensures the finite-time stability of the consensus error such that the agents do not have overshoots in the first component of the state vector. Simulations are presented to demonstrate the effectiveness of the proposed design.