Finite-Time Consensus with Disturbance Rejection by Discontinuous Local Interactions in Directed Graphs

FRANCESCHELLI, MAURO

First

;PISANO, ALESSANDRO;GIUA, ALESSANDRO;USAI, ELIO

2015-01-01

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Abstract

In this technical note we propose a decentralized discontinuous interaction rule which allows to achieve consensus in a network of agents modeled by continuous-time first-order integrator dynamics affected by bounded disturbances. The topology of the network is described by a directed graph. The proposed discontinuous interaction rule is capable of rejecting the effects of the disturbances and achieving consensus after a finite transient time. An upper bound to the convergence time is explicitly derived in the technical note. Simulation results, referring to a network of coupled Kuramoto-like oscillators, are illustrated to corroborate the theoretical analysis.