Terminal-Time Synchronization of Multiple Vehicles Under Discrete-Time Communication Networks With Directed Switching Topologies

This brief works on distributed control design for terminal-time synchronization of multiple vehicles under discrete-time communication networks with directed switching topologies. A novel terminal-time estimate is proposed, and a design strategy is established to realize synchronization of vehicles' actual terminal times. The control design is decoupled into two parts, where the acceleration along the line of sight (LOS) is designed to achieve appointed-time consensus of terminal-time estimates, and acceleration normal to the LOS is to drive the normal relative velocities to zero before the terminal time. Sufficient condition of the communication topologies and the control parameters are given, which can ensure the agreement of vehicle's actual terminal times.