【作者】 温广辉； 段志生； 陈关荣；

【Author】 Wen Guanghui1,Duan Zhisheng1,Chen Guanrong2 1State Key Laboratory for Turbulence and Complex Systems,Department of Mechanics and Aerospace Engineering,College of Engineering,Peking University,Beijing 100871,China 2Department of Electronic Engineering City University of Hong Kong,Hong Kong,China

【机构】 北京大学工学院力学与空天技术系湍流与复杂系统国家重点实验室； 香港城市大学电子工程系；

【摘要】 本文研究了多运动个体系统的有限时间一致性问题。提出了一种新的非线性通讯协议,应用于具体有生成树的加权有向网络时,该协议能够保证多运动个体系统实现有限时间收敛的平均一致性。进一步地,证明了该协议在切换拓扑意义下亦能够实现系统的有限时间收敛的平均一致性。最后,以数值仿真验证了理论分析的有效性。更多还原

【Abstract】 The present paper is devoted to an investigation of the finite-time consensus problem in a network of multiple mobile agents.A novel nonlinear information exchange protocol is proposed,which can guarantee the states of the agents to converge to an average consensus in finite time,provided that the communication topology is a weighted directed graph with a spanning tree.Furthermore,the protocol is applied to the finite-time consensus problem of networks with a switching topology.Finally,computer simulations are provided to illustrate the effectiveness of the theoretical results.更多还原