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JACIII Vol.20 No.2 pp. 254-261
doi: 10.20965/jaciii.2016.p0254
(2016)

Paper:

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Finite-Time Consensus of Double-Integrator Multi-Agent Systems with Time-Varying Directed Topologies

Fang Wang*, Xin Chen**, †, and Yong He**

*School of Information Science & Engineering, Central South University
Changsha, Hunan 410083, China

**School of Automation, China University of Geosciences
Wuhan, Hubei 430074, China

†Corresponding author

Received:
November 10, 2015
Accepted:
December 10, 2015
Online released:
March 18, 2016
Published:
March 20, 2016
Creative Commons License
Keywords:
finite-time consensus, multi-agent systems, switched topologies
Abstract
The finite-time consensus problem for double-integrator multi-agent systems (MASs) is studied using time-varying directed topologies. In detail, a distributed finite-time control protocol is designed to achieve the weighted average consensus on the basis of both relative position and relative velocity measurements by utilizing a homogeneous control technique. Then, on the basis of graph theory, homogeneity with dilation and LaSalle’s invariance principle, the designed finite-time consensus protocol ensures finite-time convergence to a consensus in the time-varying directed topologies without a global leader. Finally, some examples and simulation results are given to illustrate the effectiveness of the obtained theoretical results.
Cite this article as:
F. Wang, X. Chen, and Y. He, “Finite-Time Consensus of Double-Integrator Multi-Agent Systems with Time-Varying Directed Topologies,” J. Adv. Comput. Intell. Intell. Inform., Vol.20 No.2, pp. 254-261, 2016.
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