Finite-Time Consensus for Leader-Following Second-Order Multi-Agent Systems
Zhichao Li · 2016
In recent years, with the wide application of distributed networks and multi-agent systems, coordination and control problems have become a hot spot of research in related fields. In this paper, the finite-time consensus problems for leader-following second-order multi-agent systems are studied. Firstly, a class of nonlinear finite-time tracking control protocol is proposed, based on state feedbacks containing full information of position and velocity. Secondly, under the fixed and undirected network topology containing a spanning tree, with the help of Lyapunov stability theory and homogeneity theory, we prove that the control protocol enables each agent in the system to reach an agreement with the leader in finite time. Then, we expand the current protocol. Based on the dynamic output feedback with only relative position information, we propose the corresponding control protocol and prove its finite-time consistency. Finally, using Matlab to simulate the two kind of protocol, we prove the effectiveness of our results.