Finite-time Consensus of Heterogeneous Multi-agent Systems with Linear and Nonlinear Dynamics
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摘要: 研究了由线性和非线性动态自主体组成的异构多自主体系统的有限时间一致性问题.针对该异构系统提出了非线性的一致性协议,并分别给出了无领航者和有领航者情形下异构系统在有限时间内实现一致性的充分条件.所得结果还推广到具有有向通信拓扑且满足细致平衡条件的多自主体系统情形.最后,给出一些仿真结果来验证所得结论的正确性和有效性.Abstract: In this paper, the finite-time consensus problems of heterogeneous multi-agent systems composed of both linear and nonlinear dynamics agents are investigated. Nonlinear consensus protocols are proposed for the heterogeneous multi-agent systems. Some sufficient conditions for the finite-time consensus are established in the leaderless and leader-following cases. The results are also extended to the case where the communication topology is directed and satisfies a detailed balance condition on coupling weights. At last, some simulation results are given to illustrate the effectiveness of the obtained theoretical results.
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