Two-Phase Attractors for Finite-Duration Consensus of Multiagent Systems
本文提出一类具有有限时间吸引子的非线性系统，用于多智能体系统的一致性控制，可得到收敛时间的闭式解，并通过示例验证了有无领导者情况下的完美一致性。
A specific class of nonlinear systems, admitting finite-duration attractors (FDAs), is introduced in this paper, and used for consensus of multiagent systems (MASs). The advantage is that one can obtain a closed-form solution for the settling time function of the presented nonlinear systems. Such a system exhibits a two-phase convergence process, and its settling time function takes values over a finite duration. However, the duration width changes with respect to the initial condition. The FDA-based consensus protocol is shown to make the MAS undertaken achieve finite-duration convergence. With illustrative examples, the perfect consensus property is verified for MASs with or without a leader agent.