Distributed Finite-time Differentiator for Multi-agent Systems Under Directed Graph

Weile Chen, Haibo Du, Shihua Li
2/26/2024
cs.MA

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Abstract

This paper proposes a new distributed finite-time differentiator (DFD) for multi-agent systems (MAS) under directed graph, which extends the differentiator algorithm from the centralized case to the distributed case by only using relative/absolute position information. By skillfully constructing a Lyapunov function, the finite-time stability of the closed-loop system under DFD is proved. Inspired by the duality principle of control theory, a distributed continuous finite-time output consensus algorithm extended from DFD for a class of leader-follower MAS is provided, which not only completely suppresses disturbance, but also avoids chattering. Finally, several simulation examples are given to verify the effectiveness of the DFD.

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Cite this paper

@article{chen2024distributed,
  title  = {Distributed Finite-time Differentiator for Multi-agent Systems Under Directed Graph},
  author = {Weile Chen and Haibo Du and Shihua Li},
  year   = {2024},
  eprint = {2402.16260},
  archivePrefix = {arXiv},
  url    = {http://arxiv.org/abs/2402.16260v1}
}

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