Homogeneous constrained finite-time controller for double integrator systems: Analysis and experiment

Automatica ◽  
2021 ◽  
Vol 134 ◽  
pp. 109894
Author(s):  
Guanghui Wen ◽  
Wei Xing Zheng ◽  
Haibo Du
Keyword(s):  
Systems Analysis ◽  
Finite Time ◽  
Double Integrator

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

2016 ◽  
Vol 20 (2) ◽  
pp. 254-261 ◽  
Author(s):  
Fang Wang ◽  
◽  
Xin Chen ◽  
Yong He ◽  
Keyword(s):  
Finite Time ◽  
Weighted Average ◽  
Control Technique ◽  
Time Varying ◽  
Multi Agent Systems ◽  
Consensus Protocol ◽  
Agent Systems ◽  
Multi Agent ◽  
Directed Topologies ◽  
Double Integrator

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.

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