Finite-Time Consensus for Second-Order Multi-Agent Systems With Input Saturation

Junjie Fu, Guanghui Wen, Wenwu Yu, Zhengtao Ding

Abstract: In this brief, a new class of finite-time consensus controller is designed for second-order multi-agent systems subject to input saturation. Only a single saturation function is involved in the proposed controller, which distinguishes it from the previous ones. The proposed controllers achieve finite-time consensus using only relative state measurements. Both leaderless and leader-following consensus problems are studied. Comparisons of the proposed controllers with other existing controllers are shown through simulation examples.