A class of robust consensus algorithms with predefined‐time convergence under switching topologies

Summary This paper addresses the robust consensus problem under switching topologies. Contrary to existing methods, the proposed approach provides decentralized protocols that achieve consensus for networked multiagent systems in a predefined time. Namely, the protocol design provides a tuning param...

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Bibliographic Details
Published in:International journal of robust and nonlinear control 2019-11, Vol.29 (17), p.6179-6198
Main Authors: Aldana‐López, Rodrigo, Gómez‐Gutiérrez, David, Defoort, Michael, Sánchez‐Torres, Juan Diego, Muñoz‐Vázquez, Aldo Jonathan
Format: Article
Language:English
Subjects:
Algorithms
Automatic
consensus
Convergence
Design parameters
Engineering Sciences
fixed‐time consensus
Multiagent systems
predefined‐time consensus
prescribed‐time consensus
Robustness (mathematics)
Switching
switching topology
Topology
Upper bounds
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Summary:Summary This paper addresses the robust consensus problem under switching topologies. Contrary to existing methods, the proposed approach provides decentralized protocols that achieve consensus for networked multiagent systems in a predefined time. Namely, the protocol design provides a tuning parameter that allows setting the convergence time of the agents to a consensus state. An appropriate Lyapunov analysis exposes the capability of the current proposal to achieve predefined‐time consensus over switching topologies despite the presence of bounded perturbations. Finally, this paper presents a comparison showing that the suggested approach subsumes existing fixed‐time consensus algorithms, which allows to provide extra degrees of freedom to obtain predefined‐time consensus protocols with improved convergence characteristics, for instance, to reduce the slack between the true convergence time and the predefined upper bound. Numerical results are given to illustrate the effectiveness and advantages of the proposed method.
ISSN:1049-8923
1099-1239
DOI:10.1002/rnc.4715