Finite-time consensus of networked nonlinear systems under directed graph

Naim Zoghlami (1) , Lotfi Beji (1) , Rhouma Mlayeh (2) , Azgal Abichou (2) , Chaker Jammazi, (2)

1 IBISC - Informatique, Biologie Intégrative et Systèmes Complexes
2 LIM - Laboratoire d'Ingénierie Mathématique

In this paper, we study the finite-time consensus problem of networked nonlinear systems under directed fixed graph. A nonlinear system is considered as a controlled first-order differential equation with/without drift term commonly used to model autonomous systems. For multi-system formation under directed fixed graph, a protocol is proposed to solve consensus problems in finite time. Guided by finite-time stability techniques and the graph theory, our protocol is applied for multi-system in interaction with different nonlinear models. As illustrative examples, under the proposed protocols, a networked unicycles and second-order dynamics achieve consensus in finite time.

Mots clés: Continuous time systems; Differential equations; Graph theory; Nonlinear equations; Nonlinear systems

Domaines: Automatique / Robotique

Naim Zoghlami, Lotfi Beji, Rhouma Mlayeh, Azgal Abichou, Chaker Jammazi,. Finite-time consensus of networked nonlinear systems under directed graph. 13th European Control Conference (ECC 2014), Jun 2014, Strasbourg, France. pp.546--551, ⟨10.1109/ECC.2014.6862423⟩. ⟨hal-01092962⟩