A Time Transformation Approach to Finite-Time Distributed Control With Reduced Information Exchange
Deniz Kurtoglu, Tansel Yucelen · IEEE Control Systems Letters · 2021
This letter focuses on time-critical multiagent systems over the finite-time interval [ 0,T). Specifically, we propose a distributed control algorithm that guarantees agents to approach a time-varying command at time T with reduced information exchange. The key feature of the proposed algorithm allows T to be user-defined, where it neither depends on the initial conditions of agents nor unknown but bounded time rate of change of the command. Furthermore, an event-triggered approach is utilized to reduce agent-to-agent information exchange. Predicated on a time transformation approach, the proposed algorithm defined over the finite-time interval [ 0,T) is first transformed to an equivalent form over the infinite-time interval [ 0,∞) through a strictly increasing and continuously differentiable function that guarantees solutions in both time intervals being equivalent. Over the infinite-time interval [ 0,∞), we then use a quadratic energy function, the Bernoulli equation, and the comparison principle to establish stability and convergence properties of our algorithm.