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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 multi-agent 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, the paper presents a comparison showing that the suggested approach subsumes existing fixed-time consensus algorithms and provides extra degrees of freedom to obtain predefined-time consensus protocols that are less over-engineered, i.e., the difference between the estimated convergence time and its actual value is lower in our approach. Numerical results are given to illustrate the effectiveness and advantages of the proposed approach.
In this article, we present a finite time stopping criterion for consensus algorithms in networks with dynamic communication topology. Recent results provide asymptotic convergence to the consensus algorithm. However, the asymptotic convergence of th
The present paper is devoted to estimating the speed of convergence towards consensus for a general class of discrete-time multi-agent systems. In the systems considered here, both the topology of the interconnection graph and the weight of the arcs
There is an increasing interest in designing differentiators, which converge exactly before a prespecified time regardless of the initial conditions, i.e., which are fixed-time convergent with a predefined Upper Bound of their Settling Time (UBST), d
This paper deals with the convergence time analysis of a class of fixed-time stable systems with the aim to provide a new non-conservative upper bound for its settling time. Our contribution is fourfold. First, we revisit the well-known class of fixe
Algorithms having uniform convergence with respect to their initial condition (i.e., with fixed-time stability) are receiving increasing attention for solving control and observer design problems under time constraints. However, we still lack a gener