Fast Convergence for Flocking Motion of Discrete-Time Multi-agent System with Disturbance

  • Yize Yang
  • Hongyong YangEmail author
  • Fan Liu
  • Yuling Li
  • Yuanshan Liu
Conference paper
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 528)


For discrete-time flocking problems of networked systems with multiple leaders, containment control algorithms converged in finite time is presented. Based on modern control theory, algebraic graph theory and linear matrix inequality method, the proposed control algorithm is analyzed theoretically. The convergence condition is obtained to ensure the flocking motion in the finite time for discrete-time multi-agent systems with disturbance. Finally, the system simulation results are given to illustrate the correctness of the conclusion.


Multi-agent systems Discrete-time Flocking motion Finite time Disturbances 



This paper is supported by the National Natural Science Foundation of China (61673200, 61771231, 61471185), Natural Science Foundation of Shandong Province (ZR2018ZC0438, ZR2017MF010, ZR2017PF010) and the Key R&D Program of Yantai City (2016ZH061).


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Copyright information

© Springer Nature Singapore Pte Ltd. 2019

Authors and Affiliations

  • Yize Yang
    • 1
    • 2
  • Hongyong Yang
    • 1
    Email author
  • Fan Liu
    • 1
  • Yuling Li
    • 1
  • Yuanshan Liu
    • 1
  1. 1.School of Information and Electrical EngineeringLudong UniversityYantaiChina
  2. 2.School of Electrical Engineering and TelecommunicationsUniversity of New South WalesSydneyAustralia

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