Finite-time consensus of leader-follower multi-agent systems with fixed and switching topologies

Abstract

This paper proposes a novel nonlinear distributed consensus protocol of the finite-time consensus problems of leader-follower multi-agent systems based on the distributed consensus error functions. It is proved that the leader-follower multi-agent systems under this nonlinear protocol can reach the consensus in finite time in the scenarios with fixed topology and two kinds of switching topologies, respectively. The results are also extended to the case with directed communication topology. Finally, some examples and simulation results are given to illustrate the effectiveness of the proposed control protocols.

Couple-Group Consensus of Heterogeneous Multi-Agents Systems With Markov Switching and Cooperative-Competitive Interaction

“…, agents, they belong to the same group. Based on literature [42][43][44][45][46][47][48], time-delay, cooperative-competitive relation and Markov switching are all considered in protocol (17), which make our model be more approach to real situations.…”

“…Inspired by the above discussions, this paper will use pinning scheme and stochastic delta operator to investigate the couple group consensus of HMASs with cooperative-competitive relation and Markov switching. Compared with the obtained results [42][43][44][45][46][47][48], there are mainly threefold contributions in this article. Firstly, based on cooperative-competitive relation, time-delay, Markov switching and pinning control method, a novel leader-following couple group consensus protocol has been designed for a kind of HMASs.…”

“…Firstly, based on cooperative-competitive relation, time-delay, Markov switching and pinning control method, a novel leader-following couple group consensus protocol has been designed for a kind of HMASs. Different from literature [42][43][44][45][46][47][48], heterogeneous, cooperative-competitive relation and Markov switching are all considered, which make our model be more related to real situations. Secondly, stochastic delta operator, stability and graph theory are used to obtain sufficient conditions for the couple-group of this system.…”

Formation Control for Unmanned Aerial Vehicles with Directed and Switching Topologies

“…where < min , > ln ℎ/ , ℎ = 1 / 2 , 1 = max ∈P { ( ( ) )}, 2 = min ∈P { ( ( ) )}, and ( ) satisfies (12). The feedback matrix is designed as 2 = .…”

“…The formation control of UAVs has been studied with many different methods, such as leader-follower [4], behavior [5], and virtual structure-based [6] approaches. Recently, with the development of consensus theory [7][8][9][10][11][12][13][14][15], some related methods are also used to deal with the formation control problems of UAVs. Consensus means that all agents reach a common state.…”