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Finite-time stability of multi-agent system in disturbed environment

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Abstract

Finite-time stability problem of multi-agent system in disturbed environment is a question with practical significance. In this paper, a multi-agent system moving with obstacle avoidance is studied. The multi-agent system is expected to form a desired formation in finite time. Finite-time control law for continuous multi-agent system is proposed, which ensures that all the agents can pass the obstacles on their way, and the relative position between two agents reaches a constant value in finite time. Based on some notations and proposition given in the paper, the stability analysis is presented. Finally some simulations are presented to show the effectiveness of the method.

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Authors and Affiliations

  1. School of Computer and Communication Engineering, Tianjin University of Technology, Tianjin, 300191, China

    Li Wang & Shiwen Sun

  2. Tianjin Key Laboratory of Intelligence Computing and Novel Software Technology, Tianjin University of Technology, Tianjin, 300191, China

    Li Wang, Shiwen Sun & Chengyi Xia

Authors
  1. Li Wang
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  2. Shiwen Sun
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  3. Chengyi Xia
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Correspondence to Chengyi Xia.

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Wang, L., Sun, S. & Xia, C. Finite-time stability of multi-agent system in disturbed environment. Nonlinear Dyn 67, 2009–2016 (2012). https://doi.org/10.1007/s11071-011-0125-0

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  • DOI: https://doi.org/10.1007/s11071-011-0125-0

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