A specific class of nonlinear systems, admitting finite-duration attractors (FDAs), is introduced in this paper, and used for consensus of multiagent systems (MASs). The advantage is that one can obtain a closed-form solution for the settling time function of the presented nonlinear systems. Such a system exhibits a two-phase convergence process, and its settling time function takes values over a finite duration. However, the duration width changes with respect to the initial condition. The FDA-based consensus protocol is shown to make the MAS undertaken achieve finite-duration convergence. With illustrative examples, the perfect consensus property is verified for MASs with or without a leader agent.

中文翻译：

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多智能体系统有限持续时间共识的两相吸引子

本文介绍了一类特定的非线性系统，允许有限持续时间吸引子 (FDA)，并用于多智能体系统 (MAS) 的共识。优点是可以为所提出的非线性系统的稳定时间函数获得一个封闭形式的解。这样的系统表现出两阶段收敛过程，并且其稳定时间函数在有限持续时间内取值。然而，持续时间宽度相对于初始条件而变化。表明基于 FDA 的共识协议使所进行的 MAS 实现了有限持续时间的收敛。通过说明性示例，验证了有或没有领导代理的 MAS 的完美共识属性。