Finite-Time Consensus for Multi-Agent Networks with Second-Order Agent Dynamics

Abstract This paper considers the finite-time consensus problem for a multi-agent system with second-order individual dynamics. Local (non-smooth) time-invariant consensus protocols in different forms are constructed for each double-integrator agent dynamics in a quite unified way with help of Lyapunov function, graph theory, and homogeneity with dilation. Finite-time consensus can be obtained theoretically via the proposed non-smooth but continuous forms of distributed coordination controllers. Also, numerical analysis is given for illustration.

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