Finite-time consensus algorithm for multiple leaders
You Zheng · Journal of Tsinghua University(Science and Technology) · 2011
A finite-time consensus algorithm for multiple leaders was developed to improve coordination of multiple group objects in networked control systems.A linear double-integrator model was used in a finite-time controller with a distributed sliding surface.A Lyapunov analysis shows that the algorithm can drive the followers to converge to the convex hull formed by the leaders.Then,the algorithm was applied to cooperative control of multiple mobile robots modeled by nonlinear dynamics.Simulations show that the algorithm can be used for stationary and dynamic objective tracking problems for multiple mobile robots with good disturbance rejection and fast convergence.