Finite-Time Consensus Problems for Networks of Dynamic Agents

TL;DR

This paper introduces two distributed protocols for multi-agent systems that achieve finite-time consensus, including weighted-average consensus, with proven convergence conditions and bounds, demonstrated through simulations.

Contribution

The paper proposes novel finite-time consensus protocols for continuous-time multi-agent systems, including a weighted-average consensus method applicable to switching topologies.

Findings

Protocols guarantee finite-time convergence

Conditions derived using finite-time Lyapunov functions

Simulations confirm effectiveness

Abstract

In this paper, finite-time state consensus problems for continuous-time multi-agent systems are discussed, and two distributive protocols, which ensure that the states of agents reach an agreement in a finite time, are presented. By employing the method of finite-time Lyapunov functions, we derive conditions that guarantee the two protocols to solve the finite-time consensus problems respectively. Moreover, one of the two protocols solves the finite-time weighted-average consensus problem and can be successively applied to the systems with switching topology. Upper bounds of convergence times are also established. Simulations are presented to show the effectiveness of our results.