Edge-Based Finite-Time Protocol Analysis With Final Consensus Value and Settling Time Estimations
Yu Zhao, Yongfang Liu, Guanghui Wen, Wei Ren, Guanrong Chen · IEEE Transactions on Cybernetics · 2020
The objective of this paper is to design the protocols with a final consensus value and settling time estimations for finite-time consensus of multiagent systems. A couple of new edge-based protocols are developed for multiple second-order nonlinear agents under bounded or Lipschitz-type nonlinear functions, respectively. The final consensus value of the multiagent system is obtained as an average expression. Further, to obtain the estimation of the finite settling time, a special Lyapunov function is constructed. Through the construction processes, both the final consensus value and the settling time are obtained. Finally, as applications, a finite-time formation controller based on the first protocol is designed for multiple mini-spacecraft, verified by simulations.