Finite-Time Consensus for Leader-Following Second-Order Multi-Agent Networks

This paper studies the leader-following finite-time consensus problem for the second-order multi-agent networks with fixed and switched topologies. Based on the graph theory, matrix theory, homogeneity with dilation and LaSalle's invariance principle, finite-time consensus protocols are designed by the pinning control technique without assuming that the interaction graph is connected or the leader is globally reachable. Moreover, the control protocol of each agent using local information is presented, and some examples and simulation results are given to illustrate the effectiveness of the obtained theoretical results.