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Finite-time consensus algorithm of multi-agent networks

conference contribution
posted on 2008-01-01, 00:00 authored by Sui Yang KhooSui Yang Khoo, L Xie, Z Yu, Z Man
This paper is concerned with leader-follower finite-time consensus control of multi-agent networks with input disturbances. Terminal sliding mode control scheme is used to design the distributed control law. A new terminal sliding mode surface is proposed to guarantee finite-time consensus under fixed topology, with the common assumption that the position and the velocity of the active leader is known to its neighbors only. By using the finite-time Lyapunov stability theorem, it is shown that if the directed graph of the network has a directed spanning tree, then the terminal sliding mode control law can guarantee finite-time consensus even under the assumption that the time-varying control input of the active leader is unknown to any follower.

History

Event

IEEE International Conference on Control, Automation, Robotics & Vision (10th : 2008 : Hanoi, Vietnam)

Pagination

916 - 920

Publisher

IEEE

Location

Hanoi, Vietnam

Place of publication

Piscataway, N.J.

Start date

2008-12-17

End date

2008-12-20

ISBN-13

9781424422876

Language

eng

Publication classification

E1.1 Full written paper - refereed

Copyright notice

2008, IEEE

Title of proceedings

ICARCV 2008 : 10th International Conference on Control, Automation, Robotics & Vision

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