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Finite-time Consensus of Leader-following Multi-agent Systems with Multiple Time Delays over Time-varying Topology

Fenglan Sun*, Mingyan Tuo, Jürgen Kurths, and Wei Zhu
International Journal of Control, Automation, and Systems, vol. 18, no. 8, pp.1985-1992, 2020

Abstract : This paper studies the finite-time consensus of leader-following multi-agent systems with multiple time delays over time-varying topology. The finite-time consensus protocol based on the agents’ states and the communication topology is designed. By adopting the algebraic graph theory, Lyapunov stability theory and pinning control method, some sufficient conditions for the finite-time consensus are given. It is proved that the system can reach consensus in a finite time both over the connected and disconnected topology. Moreover, the upper bound of the convergence time is given. Several simulations are presented to verify the effectiveness of the adopted method.

Keyword : Finite-time consensus, multiple time delays, pinning control, time-varying topology.

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