Finite time consensus of nonlinear multi-agent systems in the presence of communication time delays

摘要

In this paper, the finite-time leader-follower consensus of nonlinear Lagrangian multi-agent systems in the presence of communication time delays and dynamic parameter uncertainties is considered. In this regard, three different cases are studied. In the first case, all follower agents are considered informed, i.e., they receive the leader signals. The second case reads a situation where some followers are informed and the others are uninformed, and there is a directed spanning tree topology. In the third case, a new adaptive algorithm in the presence of dynamic parameter uncertainties is proposed. In all these cases, the finite-time consensus of the position and velocity signals is shown. All proofs are derived using the Lyapunov technique without the need to LMIs formulation, a common framework for the stability analysis of delay systems, which is often hard to get feasibility conditions of their solution. At last, in the line of verification of the theoretical results, simulation results on a group of ten identical planar 2-DOF manipulators as the agents of the system are presented. (C) 2019 European Control Association. Published by Elsevier Ltd. All rights reserved.