A class of robust consensus algorithms with predefined-time convergence under switching topologies
arXiv:1812.07545 · doi:10.1002/rnc.4715
Abstract
This paper addresses the robust consensus problem under switching topologies. Contrary to existing methods, the proposed approach provides decentralized protocols that achieve consensus for networked multi-agent systems in a predefined time. Namely, the protocol design provides a tuning parameter that allows setting the convergence time of the agents to a consensus state. An appropriate Lyapunov analysis exposes the capability of the current proposal to achieve predefined-time consensus over switching topologies despite the presence of bounded perturbations. Finally, the paper presents a comparison showing that the suggested approach subsumes existing fixed-time consensus algorithms and provides extra degrees of freedom to obtain predefined-time consensus protocols that are less over-engineered, i.e., the difference between the estimated convergence time and its actual value is lower in our approach. Numerical results are given to illustrate the effectiveness and advantages of the proposed approach.
arXiv commentInternational Journal of Robust and Nonlinear Control, 2019
References in corpus (3)
Cited by in corpus (7)
- Enhancing the settling time estimation of a class of fixed-time stable systems
- On the design of new classes of fixed-time stable systems with predefined upper bound for the settling time
- On the design of non-autonomous fixed-time controllers with a predefined upper bound of the settling time
- On predefined-time consensus protocols for dynamic networks
- Autonomous and non-autonomous fixed-time leader-follower consensus for second-order multi-agent systems
- Predefined-Time Consensus of High-Order Multi-Agent Systems
- Distributed outer approximation of the intersection of ellipsoids