Finite-Time Connectivity-Preserving Consensus of Networked Nonlinear Agents With Unknown Lipschitz Terms

被引：79

作者：

Cao, Yongcan ^{[1
]}

Ren, Wei ^{[2
]}

Casbeer, David W. ^{[3
]}

Schumacher, Corey ^{[3
]}

机构：

[1] Univ Texas San Antonio, Dept Elect & Comp Engn, San Antonio, TX 78249 USA

[2] Univ Calif Riverside, Dept Elect & Comp Engn, Riverside, CA 92521 USA

[3] Air Force Res Lab, Control Sci Ctr Excellence, Wright Patterson AFB, OH 45433 USA

来源：

IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 2016年 / 61卷 / 06期

基金：

美国国家科学基金会;

关键词：

Consensus; cooperative control; limited sensing range; Lipschitz nonlinear dynamics; SYSTEMS; MANIPULATORS; COORDINATION;

D O I：

10.1109/TAC.2015.2479926

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This technical note studies finite-time consensus problem for a team of networked nonlinear agents with unknown Lipschitz terms under communication constraints, where each agent has a limited sensing range. Because the induced interaction graph is typically state-dependent and dynamic, we propose a distributed nonlinear consensus algorithm that is capable of preserving the initial interaction patterns. By using tools from nonsmooth analysis, sufficient conditions are obtained such that finite-time consensus can be reached. An upper bound of the convergence time is derived via a two-step analysis. The validity of the theoretical result is shown by one simulation example.

引用

页码：1700 / 1705

页数：6

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