Geodesic
Finite-time consensus problem for multiple non-holonomic mobile agents
Kybernetika, Tome 48 (2012) no. 6, pp. 1180-1193.

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In this paper, the problem of finite time consensus is discussed for multiple non-holonomic mobile agents. The objective is to design a distributed finite time control law such that the controlled multiple non-holonomic mobile agents can reach consensus within any given finite settling time. We propose a novel switching control strategy with the help of time-rescalling technique and graph theory. The numerical simulations are presented to show the effectiveness of the method.
Classification : 93D15, 93D21
Keywords: finite time consensus; nonholonomic system; time-rescaling; mobile agents 
@article{KYB_2012__48_6_a6,
     author = {Wang, Jiankui and Qiu, Zhihui and Zhang, Guoshan},
     title = {Finite-time consensus problem for multiple non-holonomic mobile agents},
     journal = {Kybernetika},
     pages = {1180--1193},
     publisher = {mathdoc},
     volume = {48},
     number = {6},
     year = {2012},
     mrnumber = {3052880},
     language = {en},
     url = {http://geodesic.mathdoc.fr/item/KYB_2012__48_6_a6/}
}
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Wang, Jiankui; Qiu, Zhihui; Zhang, Guoshan. Finite-time consensus problem for multiple non-holonomic mobile agents. Kybernetika, Tome 48 (2012) no. 6, pp. 1180-1193. http://geodesic.mathdoc.fr/item/KYB_2012__48_6_a6/