期刊
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
卷 60, 期 4, 页码 1133-1138出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TAC.2014.2351431
关键词
Consensus; discontinuous control; distributed control; disturbance rejection; multi-agent systems
资金
- European Union [257462]
- Artemis JU as part of the project ACCUS [333020]
- Italian Ministry for Foreign Affairs [PGR00152]
- Regione Sardegna [LR 7/2007, CRP-24709]
In this technical note we propose a decentralized discontinuous interaction rule which allows to achieve consensus in a network of agents modeled by continuous-time first-order integrator dynamics affected by bounded disturbances. The topology of the network is described by a directed graph. The proposed discontinuous interaction rule is capable of rejecting the effects of the disturbances and achieving consensus after a finite transient time. An upper bound to the convergence time is explicitly derived in the technical note. Simulation results, referring to a network of coupled Kuramoto-like oscillators, are illustrated to corroborate the theoretical analysis.
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