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Finite-time consensus of time-varying nonlinear multi-agent systems

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  • Qingrong Liu
  • Zhishan Liang

Abstract

This paper investigates the problem of leader–follower finite-time consensus for a class of time-varying nonlinear multi-agent systems. The dynamics of each agent is assumed to be represented by a strict feedback nonlinear system, where nonlinearities satisfy Lipschitz growth conditions with time-varying gains. The main design procedure is outlined as follows. First, it is shown that the leader–follower consensus problem is equivalent to a conventional control problem of multi-variable high-dimension systems. Second, by introducing a state transformation, the control problem is converted into the construction problem of two dynamic equations. Third, based on the Lyapunov stability theorem, the global finite-time stability of the closed-loop control system is proved, and the finite-time consensus of the concerned multi-agent systems is thus guaranteed. An example is given to verify the effectiveness of the proposed consensus protocol algorithm.

Suggested Citation

  • Qingrong Liu & Zhishan Liang, 2016. "Finite-time consensus of time-varying nonlinear multi-agent systems," International Journal of Systems Science, Taylor & Francis Journals, vol. 47(11), pages 2642-2651, August.
    • Handle: RePEc:taf:tsysxx:v:47:y:2016:i:11:p:2642-2651
    DOI: 10.1080/00207721.2015.1010190
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