Finite-Time Consensus of Nonlinear Multi-Agent Systems in the Presence of Unknown Communication Time Delays and Partial Access to Neighboring Agents Signals
Maryam Sharifi · International Journal of Robotic Engineering · 2020
In this paper, finite-time consensus of a group of nonlinear multi-agent systems in the presence of communication time delays is considered.The required criteria to guarantee the delay-independent/ dependent consensus are derived.The communication delays are not assumed time invariant, uniform, symmetric or even known.The only requirement is that all delays satisfy a known upper bound.The proposed strategy is appropriate for cases where an agent has a partial access to its neighbor agents signals with no need to estimate the unknown states.In the line of showing the consensus, the finite-time version of Lyapunov-Razumikhin theorem is utilized.The strategy applies to a large class of nonlinear systems.For verification of the proposed approach, simulation results on a group of mobile robot manipulators as the agents of the system are presented.