Finite time rendezvous control of multi-agent networks preserving topology connectivity with constrained energy

The finite-time rendezvous control problem is investigated with preserving topology connectivity and constrained energy for multi-agent networks where the dynamic of agents is modeled as first order integrator. Based on energy weighted function, the control protocol is proposed considering that the energy of each agent is not less than the lower limit of the given energy and all agents move towards the agent with least energy. The necessary condition for rendezvous is given on the premise that the sum of initial energy of any two agents satisfies certain restriction. Furthermore, based on dynamic network error defined, applying the principle of invariant sets of non-smooth analysis, it is proved that the proposed control scheme allows the system to achieve rendezvous with preserving topology connectivity in finite time. Finally, simulations are used to illustrate the effectiveness of theoretical results.