Finite‐time distributed control with time transformation

2020 ◽  
Vol 31 (1) ◽  
pp. 107-130 ◽  
Author(s):  
Ehsan Arabi ◽  
Tansel Yucelen ◽  
John R. Singler
Keyword(s):  
Distributed Control ◽  
Finite Time ◽  
Time Transformation

Further Results on Finite-Time Distributed Control of Multiagent Systems With Time Transformation

2018 ◽  
Author(s):  
Ehsan Arabi ◽  
Tansel Yucelen ◽  
John R. Singler
Keyword(s):  
Distributed Control ◽  
Multiagent Systems ◽  
Local Control ◽  
Finite Time ◽  
Control Algorithm ◽  
Initial Conditions ◽  
A Priori ◽  
Time Transformation ◽  
Time Interval ◽  
Distributed Control Algorithm

In previous work, a (smooth) finite-time distributed control algorithm with time transformation was introduced for first-order multiagent systems, which guarantees convergence of the single state of agents to a time-varying leader at a-priori given, user-defined time T from any arbitrary initial conditions with bounded local control signals. In this paper, we present an extension of this previous work to second-order multiagent systems. Specifically, utilizing a user-defined finite-time interval of interest t ∈ [0, T), we time transform this class of multiagent systems subject to the considered (smooth) distributed control algorithm to an infinite-time interval s ∈ [0, ∞) with s being the stretched time. Based on a property of this time transformation, this results in finite-time convergence as the regular time t approaches to T from any arbitrary initial conditions with bounded local control and internal signals. Finally, two numerical examples illustrate the efficacy of the proposed algorithm.

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