Finite-time connectivity preservation rendezvous with disturbance rejection

• Jiu-Gang Dong ^[1]
  1. [1] Harbin Institute of Technology

     Harbin Institute of Technology

     China

     
• Localización: Automatica: A journal of IFAC the International Federation of Automatic Control, ISSN 0005-1098, Vol. 71, 2016, págs. 57-61
• Idioma: inglés
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• Resumen

  • This paper introduces a discontinuous rendezvous algorithm for multi-agent systems which allows a group of agents to achieve finite-time rendezvous with connectivity preservation as well as disturbance rejection. The proposed discontinuous rendezvous algorithm is based on a class of general communication functions with certain available information range. Nonsmooth stability analysis and graph theory are employed to obtain the finite-time rendezvous. An upper bound on the convergence time is also given. Our result simultaneously satisfies the three features: connectivity preservation, disturbance rejection and finite-time convergence.