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Volume 11 Issue 6
Jun.  2024

IEEE/CAA Journal of Automatica Sinica

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Z. Zuo, J. Tang, R. Ke, and  Q.-L. Han,  “Hyperbolic tangent function-based protocols for global/semi-global finite-time consensus of multi-agent systems,” IEEE/CAA J. Autom. Sinica, vol. 11, no. 6, pp. 1381–1397, Jun. 2024. doi: 10.1109/JAS.2024.124485
Citation: Z. Zuo, J. Tang, R. Ke, and  Q.-L. Han,  “Hyperbolic tangent function-based protocols for global/semi-global finite-time consensus of multi-agent systems,” IEEE/CAA J. Autom. Sinica, vol. 11, no. 6, pp. 1381–1397, Jun. 2024. doi: 10.1109/JAS.2024.124485

Hyperbolic Tangent Function-Based Protocols for Global/Semi-Global Finite-Time Consensus of Multi-Agent Systems

doi: 10.1109/JAS.2024.124485
Funds:  This work was supported by the National Natural Science Foundation of China (62073019)
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  • This paper investigates the problem of global/semi-global finite-time consensus for integrator-type multi-agent systems. New hyperbolic tangent function-based protocols are proposed to achieve global and semi-global finite-time consensus for both single-integrator and double-integrator multi-agent systems with leaderless undirected and leader-following directed communication topologies. These new protocols not only provide an explicit upper-bound estimate for the settling time, but also have a user-prescribed bounded control level. In addition, compared to some existing results based on the saturation function, the proposed approach considerably simplifies the protocol design and the stability analysis. Illustrative examples and an application demonstrate the effectiveness of the proposed protocols.


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    • New hyperbolic tangent function-based protocols for achieving finite-time consensus in multi-agent systems, offering a user-prescribed bounded control level with an explicit estimate of the settling time bound
    • Simplified design and stability analysis surpassing traditional saturation function and homogeneity theory approaches
    • Proven effectiveness and practicability via illustrative examples and applications in multi-BLDC motor systems


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