AMS2005-26: Finite-time convergent gradient flows with applications to motion coordination

Jorge Cortes
12/31/2005 09:00 AM
Applied Mathematics & Statistics
This paper introduces the normalized and signed gradient dynamical systems associated with a differentiable function. Extending recent results on nonsmooth stability analysis, we characterize their asymptotic convergence properties and identify conditions that guarantee finite-time convergence. We discuss the application of the results to the design of multi-agent coordination algorithms, paying special attention to their scalability properties. Finally, we consider network consensus problems and show how the proposed nonsmooth gradient flows achieve the desired coordination task in finite time.