Designing Distributed Specified-Time Consensus Protocols for Linear Multi-Agent Systems Over Directed Graphs

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Original languageEnglish
Pages (from-to)2945-2952
Journal / PublicationIEEE Transactions on Automatic Control
Issue number7
Online published1 Oct 2018
Publication statusPublished - Jul 2019


This technical note addresses the distributed specified-time consensus protocol design problem for multiagent systems with general linear dynamics over directed graphs. By using motion planning approaches, a novel class of distributed consensus protocols are developed. With a prespecified settling time, the proposed protocols solve the consensus problem of linear multiagent systems over directed graphs containing a directed spanning tree. In particular, the settling time can be offline prespecified according to task requirements. Compared with the existing results for multiagent systems, to our best knowledge, it is the first time to raise and solve specified-time consensus problems are raised and solved for general linear multiagent systems over directed graphs. Extensions to the specified-time formation flying are further studied for multiple satellites described by Hill equations.

Research Area(s)

  • Directed spanning tree, distributed protocol, linear multi-agent system, specified-time consensus

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