Finite-time Consensus for Multi-agent Systems via Nonlinear Control Protocols

This paper investigates the finite-time consensus problem of multi-agent systems with single and double integrator dynamics, respectively. Some novel nonlinear protocols are constructed for first-order and second-order leader-follower multi-agent systems, respectively. Based on the finite-time control technique, the graph theory and Lyapunov direct method, some theoretical results are proposed to ensure that the states of all the follower agents can converge to its leader agent's state in finite time. Finally, some simulation results are presented to illustrate the effectiveness of our theoretical results.