A Game-Theoretical Approach for a Finite-Time Consensus of Second-Order Multi-Agent System


The second-order consensus problem depends on not only the topology condition but also the coupling strength of the relative positions and velocities between neighboring agents. This paper seeks to solve the finite-time consensus problem of second-order multi-agent systems by games with special structures. Potential game and weakly acyclic game were applied for modeling the second-order consensus problem with different topologies. Furthermore, this paper introduces the event-triggered asynchronous cellular learning automata algorithm for optimizing the decision making process of the agents, which facilitates a convergence with the Nash equilibrium. Finally, numerical examples illustrate the effectiveness of the models.


Electrical and Computer Engineering

Research Center/Lab(s)

Center for High Performance Computing Research


This research was supported by the National Natural Science Foundation of China under grants 61806052, by the Natural Science Foundation of Jiangsu Province of China under grants BK20180361, and by the Fundamental Research Funds for the Central Universities. Partial support for this research was received from the Missouri University of Science and Technology Intelligent Systems Center, the Mary K. Finley Missouri Endowment, the Lifelong Learning Machines program from DARPA/Microsystems Technology Office, and the Army Research Laboratory (ARL); and it was accomplished under Cooperative Agreement Number W911NF-18-2-0260.

Keywords and Phrases

Event-Triggered Asynchronous Cellular Learning Automata; Finite-Time Second-Order Consensus; Graphical Games; Multi-Agent System; Potential Game; Weakly Acyclic Game

International Standard Serial Number (ISSN)

1598-6446; 2005-4092

Document Type

Article - Journal

Document Version


File Type





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Publication Date

01 May 2019