Finite-time consensus of neutrally stable multi-agent systems in the presence of input saturation

Abstract The problem of finite-time consensus of linear multi-agent systems subject to input saturation is investigated and two control protocols are presented for leaderless and leader-following cases, respectively. The leaderless multi-agent systems with proposed non-smooth protocol can achieve consensus in finite time. The consensus protocol designed for leader-following case with directed topology can solve the finite-time consensus problem, where a priori constraint is adopted to deal with input saturation. Furthermore, the settling time is explicitly derived using finite-time Lyapunov theory. Finally, the effectiveness of the theoretical results is illustrated with several numerical simulations.

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