A new finite-time average consensus protocol with boundedness of convergence time for multi-robot systems
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 v...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2017-11-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.1177/1729881417737699 |
| _version_ | 1831695355722334208 |
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| author | Xiaobo Wang Juelong Li Jianchun Xing Ronghao Wang Liqiang Xie Ying Chen |
| author_facet | Xiaobo Wang Juelong Li Jianchun Xing Ronghao Wang Liqiang Xie Ying Chen |
| author_sort | Xiaobo Wang |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-12-20T12:52:46Z |
| format | Article |
| id | doaj.art-b1e2b36ac0204e84be2f9aea8d7977cb |
| institution | Directory Open Access Journal |
| issn | 1729-8814 |
| language | English |
| last_indexed | 2024-12-20T12:52:46Z |
| publishDate | 2017-11-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | International Journal of Advanced Robotic Systems |
| spelling | doaj.art-b1e2b36ac0204e84be2f9aea8d7977cb2022-12-21T19:40:08ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142017-11-011410.1177/1729881417737699A new finite-time average consensus protocol with boundedness of convergence time for multi-robot systemsXiaobo Wang0Juelong Li1Jianchun Xing2Ronghao Wang3Liqiang Xie4Ying Chen5 College of Defense Engineering, PLA University of Science and Technology, Nanjing, China Research Center of Costal Defense Engineering, Beijing, China College of Defense Engineering, PLA University of Science and Technology, Nanjing, China College of Defense Engineering, PLA University of Science and Technology, Nanjing, China College of Defense Engineering, PLA University of Science and Technology, Nanjing, China College of Defense Engineering, PLA University of Science and Technology, Nanjing, ChinaMulti-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.https://doi.org/10.1177/1729881417737699 |
| spellingShingle | Xiaobo Wang Juelong Li Jianchun Xing Ronghao Wang Liqiang Xie Ying Chen A new finite-time average consensus protocol with boundedness of convergence time for multi-robot systems International Journal of Advanced Robotic Systems |
| title | A new finite-time average consensus protocol with boundedness of convergence time for multi-robot systems |
| title_full | A new finite-time average consensus protocol with boundedness of convergence time for multi-robot systems |
| title_fullStr | A new finite-time average consensus protocol with boundedness of convergence time for multi-robot systems |
| title_full_unstemmed | A new finite-time average consensus protocol with boundedness of convergence time for multi-robot systems |
| title_short | A new finite-time average consensus protocol with boundedness of convergence time for multi-robot systems |
| title_sort | new finite time average consensus protocol with boundedness of convergence time for multi robot systems |
| url | https://doi.org/10.1177/1729881417737699 |
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