OPTIMAL FINITE-TIME CONSENSUS ON FIXED AND PERIODIC GRAPHS.

Synthesis of optimal controllers achieving finite-time consensus for multiagent networks described by fixed or periodic connectivity graphs is considered. The solution procedure involves posing a partially nested, finite-horizon decentralized control problem and converting it to a static convex optimization problem by a quadratic invariance argument. The dynamic feedback controller thus synthesized optimizes a transient performance measure and guarantees consensus within a minimal number of steps. [ABSTRACT FROM AUTHOR]