Distributed finite time consistency optimization method based on points and edges

The invention provides a distributed finite time consistency optimization method based on points and edges, and relates to the technical field of control and distributed optimization. According to the method, finite time distributed optimization methods under two frameworks which do not depend on initial conditions are provided, the two methods can ensure that all agents are consistent in finite time, meanwhile, an overall cost function is minimized, and the upper bound of stable time is given; and the optimization method is combined with consistency, meanwhile, the convergence speed is considered, compared with asymptotic convergence, finite time convergence plays a very important role in an actual application such as formation control, the method is high in precision, high in convergence speed, good in nonlinear uncertainty robustness and the like, and the cooperation efficiency is greatly improved. According to the method, the agents can be coordinated and consistent in limited time, and global optimizatio