Hybrid consensus protocols: An impulsive dynamical system approach

摘要

In this article, we develop a novel hybrid control framework to address fast consensus seeking problems for multiagent dynamical systems. Specifically, we present hybrid distributed controller architectures for multiagent coordination to improve the transient performance of coordination tasks. The proposed controller architectures are predicated on some novel hybrid dynamic compensation structures involving the exchange of information between agents. A unique feature of the proposed framework is that the proposed controller architectures are hybrid and appear to achieve finite-time coordination, and hence significantly improve the transient performance of the closed-loop system. The overall closed-loop dynamics under any of these controller algorithms achieving consensus possesses discontinuous flows since the controller algorithms combine logical switchings with continuous dynamics, leading to impulsive differential equations. Several simulation results are provided to validate the proposed consensus protocols.