文章基本信息

标题：A new finite-time average consensus protocol with boundedness of convergence time for multi-robot systems
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作者：Xiaobo Wang ; Juelong Li ; Jianchun Xing 等
期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2017
卷号：14
期号：6
DOI：10.1177/1729881417737699
出版社：SAGE Publications
摘要：Multi-robot consensus has been extensively applied in robotics. In this study, a new protocol is proposed to solve the finite-time average consensus problem. The protocol can improve the convergence rate. The upper bound of the convergence time is obtained. Analysis shows that there exists a limit value of the convergence time when the disagreement of initial states tends to be infinitely large, and the value is irrelevant to the initial states. The relationship between convergence time and initial states, communication topology, parameter is analysed. Lastly, the effectiveness of the results is verified by simulations.
关键词：Multi-robot systems ; finite-time average consensus ; protocol ; boundedness ; convergence time