Finite-time consensus for leader-following second-order multi-agent system

Abstract

The finite-time consensus problems of second-order multi-agent system under fixed and switching network topologies are studied in this article. Based on the graph theory, LaSalle's invariance principle and the homogeneity with dilation, the finite-time consensus protocol of each agent using local information is designed. The leader-following finite-time consensus is analysed in detail. Moreover, some examples and simulation results are given to illustrate the effectiveness of the obtained theoretical results.

Keywords:

• finite-time consensus
• switching network
• leader-following
• multi-agent system

Acknowledgements

The authors would like to thank the editors and reviewers for their valuable comments and suggestions which helped to significantly improve the quality of this article. This study is supported by the National Natural Science Foundation of China under grants 60834002, 60873021, 60973012, 60973039, 61073025 and 61073026.