A Finite-time Consensus Framework over Time-varying Graph Topologies with Temporal Constraints

[+] Author and Article Information
Zhen Kan

Department of Mechanical and Industrial Engineering, The University of Iowa, Iowa City, Iowa, USA

Tansel Yucelen

Department of Mechanical Engineering, University of South Florida, Tampa, Florida, USA

Emily Doucette

Munitions Directorate, Air Force Research Laboratory, Eglin Air Force Base, Florida, USA

Eduardo Pasiliao

Munitions Directorate, Air Force Research Laboratory, Eglin Air Force Base, Florida, USA

1Corresponding author.

ASME doi:10.1115/1.4035612 History: Received August 17, 2016; Revised December 19, 2016


Finite-time consensus has attracted significant research interest due to its wide applications in multi-agent systems. Various results have been developed to enable multi-agent systems to complete desired tasks in finite-time. However, most existing results in literature can only ensure finite-time consensus without considering temporal constraints, where the time used to achieve consensus cannot be preset arbitrarily and is generally determined by the system initial conditions, prohibiting its application in time-sensitive tasks. Motivated to achieve consensus within a desired time frame, user-specified finite-time consensus is developed in the present work for a multi-agent system to ensure consensus at a prespecified time instant. The interaction among agents (e.g., communication and information exchange) is modeled as a time-varying graph, where each edge is associated with a time-varying weight representing the time-varying interaction between neighboring agents. Consensus over such time-varying graph is then proven based on a time transformation and is guaranteed to be completed within a prespecified time frame. To demonstrate the developed framework, finite-time rendezvous of a multi-agent system is considered as an example application, where agents with limited communication capabilities are desired to meet at a common location at a preset time instant with constraints on preserving global network connectivity. A numerical simulation is provided to demonstrate the efficiency of the developed result.

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