Free-Will Arbitrary Time Consensus for Multiagent Systems

In this article, the free-will arbitrary time consensus is formulated for multiagent systems. This consensus protocol is independent of initial conditions and any other system parameters. With such a protocol, the multiagent system is shown to attain consensus as well as average consensus within the prespecified arbitrary time. Agents rendezvous can also be accomplished with the given protocol. Communication imperfections are easily handled with the designed protocol. Robust free-will arbitrary time consensus protocol is also designed. The stability of such nonlinear nonautonomous protocols is established using suitable Lyapunov functions. Simulation examples confirm the theoretical findings.