Free-will arbitrary time consensus protocols with diffusive coupling

Abstract

In this article, free-will arbitrary time consensus protocols are proposed for multi-agent systems with single- and double- (possibly higher-order) integrator dynamics, respectively, and with (possibly switching) connected interaction graphs and bounded matched disturbances. Under the proposed consensus laws, an average consensus is achieved in a free-will arbitrary prespecified time regardless of the initial conditions or any other design parameters. Further, the proposed consensus laws for the case with no disturbances are smooth, and they are distributed in the sense that information is only communicated locally between neighboring agents. Finally, simulation results are also provided to illustrate the theoretical results and, an application to arbitrary prespecified time formation control of mobile agents is also presented.