Nonlinear Dynamics

, Volume 67, Issue 3, pp 2009–2016 | Cite as

Finite-time stability of multi-agent system in disturbed environment

Original Paper


Finite-time stability problem of multi-agent system in disturbed environment is a question with practical significance. In this paper, a multi-agent system moving with obstacle avoidance is studied. The multi-agent system is expected to form a desired formation in finite time. Finite-time control law for continuous multi-agent system is proposed, which ensures that all the agents can pass the obstacles on their way, and the relative position between two agents reaches a constant value in finite time. Based on some notations and proposition given in the paper, the stability analysis is presented. Finally some simulations are presented to show the effectiveness of the method.


Multi-agent system Finite time stability Disturbed environment Formation Obstacle avoidance 


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Copyright information

© Springer Science+Business Media B.V. 2011

Authors and Affiliations

  1. 1.School of Computer and Communication EngineeringTianjin University of TechnologyTianjinChina
  2. 2.Tianjin Key Laboratory of Intelligence Computing and Novel Software TechnologyTianjin University of TechnologyTianjinChina

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