Distributed Consensus Seeking With Different Convergence Performance Requirements: A Unified Control Framework
针对单积分器多智能体系统，提出一个统一分布式控制框架，通过自由设计控制器中的三个函数，实现指数、有限时间、固定时间和指定时间等多种收敛性能要求，适用于不同场景。
In this article, we investigate distributed consensus seeking with multiple convergence performance requirements for single-integrator multiagent systems under undirected graphs. A unified distributed control framework is proposed to ensure consensus or practical consensus as well as performance time requirements, which contains most existing complex protocol schemes as special cases. In the proposed framework, three functions with specific properties in the controller play different roles and can be freely designed to achieve desired convergence performances, which guarantee a high-level scalability for multiple control requirements in addition to convergence time. For highlighting the compatibility and flexibility of the proposed method, four typical scenarios are discussed to reach exponential, finite-time, fixed-time, and appointed-time consensus seeking, respectively. Finally, numerical simulations are carried out to verify the effectiveness of the theoretical analysis.