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- Title
Fast finite-time consensus protocol of multi-agent systems with nonholonomic constraints.
- Authors
Zhang, Fei; Cai, Mingjie; Wang, Baofang
- Abstract
In this paper, a fast finite-time consensus protocol for multi-agent systems with nonholonomic constraints is studied. First, the chained form nonholonomic systems are transformed into two subsystems, which are the first-order subsystem and the reduced-order subsystem. Based on graph theory content and fast finite-time control theory, the fast finite-time consensus problems of the two subsystems are taken into consideration separately. Second, a switching control strategy is proposed to ensure that all states of multiple nonholonomic systems converge instantly to the same state in finite time. Finally, a numerical example is given to verify the effectiveness of the proposed control algorithm.
- Subjects
MULTIAGENT systems; NONHOLONOMIC dynamical systems; NONHOLONOMIC constraints; GRAPH theory; REINFORCEMENT learning
- Publication
Transactions of the Institute of Measurement & Control, 2023, Vol 45, Issue 6, p1069
- ISSN
0142-3312
- Publication type
Article
- DOI
10.1177/01423312221127146