Finite-Time Consensus with Disturbance Attenuation for Directed Switching Network Topologies by Discontinuous Local Interactions

FRANCESCHELLI, MAURO;PILLONI, ALESSANDRO;PISANO, ALESSANDRO;GIUA, ALESSANDRO;USAI, ELIO

2013-01-01

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Abstract

In this paper we investigate the properties of a decentralized consensus algorithm for a network of continuoustime integrators subject to unknown-but-bounded persistent disturbances. The proposed consensus algorithm is based on a discontinuous local interaction rule. Under certain restrictions on the directed switching topology of the communication graph, it is proven that after a finite transient time the agents achieve an approximated consensus condition by attenuating the destabilizing effect of the disturbances. Lyapunov analysis is carried out for characterizing the performance of the suggested algorithm. Simulative analysis are illustrated and commented to validate the developed result.