TY - GEN
T1 - Fixed-time consensus for a class of nonlinear uncertain multi-agent systems
AU - Davila, J.
AU - Pisano, A.
N1 - Publisher Copyright:
© 2016 American Automatic Control Council (AACC).
PY - 2016/7/28
Y1 - 2016/7/28
N2 - In this paper we propose a novel local interaction rule providing consensus in a network of nonlinear uncertain first-order agents communicating through a connected, and possibly switching, graph topology. Particularly, consensus is achieved after a finite settling time which, additionally, admits an upper bound independent on the initial conditions of the agent states. This property, called fixed-time convergence, is achieved thanks to suitable polynomial terms in the control laws. Lyapunov analysis is presented to support the convergence features of the proposed local interaction rule, and simulation results are discussed for validating the underlying performance.
AB - In this paper we propose a novel local interaction rule providing consensus in a network of nonlinear uncertain first-order agents communicating through a connected, and possibly switching, graph topology. Particularly, consensus is achieved after a finite settling time which, additionally, admits an upper bound independent on the initial conditions of the agent states. This property, called fixed-time convergence, is achieved thanks to suitable polynomial terms in the control laws. Lyapunov analysis is presented to support the convergence features of the proposed local interaction rule, and simulation results are discussed for validating the underlying performance.
UR - http://www.scopus.com/inward/record.url?scp=84992154324&partnerID=8YFLogxK
U2 - 10.1109/ACC.2016.7525493
DO - 10.1109/ACC.2016.7525493
M3 - Contribución a la conferencia
AN - SCOPUS:84992154324
T3 - Proceedings of the American Control Conference
SP - 3728
EP - 3733
BT - 2016 American Control Conference, ACC 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 American Control Conference, ACC 2016
Y2 - 6 July 2016 through 8 July 2016
ER -