Finite-Time Consensus Problem For Non-Holonomic Multi-Agent Systems

With the fast development of distributed networks and multi-agent systems, theconsensus problem of multiple agents has received considerable attention from thescientifc community. For multiple systems, the consensus problem is closely relatedto cooperative control. The finite-time consensus of multiple systems is defined as theproblem that any state variable of the systems converges to a common value withinfinite time. And the main research contents as well as the results are shown asfollows:1) We study the consensus of multiple nonholonomic chained form systemswithin finite time in undirected network where network topology is fixed withoutcommunication delay. A novel switching control strategy is proposed so that thesystems can reach consensus within fnite time. With the help of time-rescallingtechnique, the systems can reach consensus within arbitrary time theoretically.2) We present a novel formation control laws for multiple wheeled mobile robots.We design the control laws for each robot, which is based on its own state and therelative state information between its neighbors, such that the group of robots comesinto a desired formation within finite time. And with the help of time-rescallingtechnique, the group of robots can achieve a given formation within arbitrary timetheoretically.3) Based on the first results, we discuss the situation that the network topology ofthe multiple systems is fixed with communication delay primarily. Through a series ofparameter transformation, we get rid of the communication delay successfully. Andwe convert the multiple systems with communication delay into the multiple systemswithout communication delay. We present a control algorithm with communicationdelay, therefore, the multiple systems with communication delay can reach consensuswithin fnite time. With the help of time-rescalling technique, the systems can reachconsensus within arbitrary time theoretically.