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.
Finite-Time Consensus with Disturbance Rejection by Discontinuous Local Interactions in Directed Graphs
01.01.2015
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
DDC: | 629 |
Finite-Time Active Disturbance Rejection Control Based on High-Order Sliding Mode
British Library Conference Proceedings | 2019
|Limitations of disturbance rejection in feedback systems with finite bandwidth
Tema Archiv | 1999
|Disturbance Rejection with Communication Constraints
British Library Online Contents | 2007
|