Finite-time consensus of second-order leader-following multi-agent systems without velocity measurements

This Letter investigates the finite-time consensus problems of second-order multi-agent systems in the presence of one and multiple leaders under a directed graph. Specifically, we propose two bounded control laws, which are independent of velocity information, to deal with the finite-time consensus tracking problem with one leader and the finite-time containment control problem with multiple leaders, respectively. With the aid of homogeneous theory, some sufficient conditions are established for the achievement of the finite-time tracking control problem of second-order multi-agent systems. Numerical examples are finally provided to illustrate the theoretical results.

► We solve the finite-time consensus of second-order multi-agent systems with leaders.
► Two bounded control laws, which are independent of the velocity state, are proposed.
► The consensus tracking problem can be achieved in finite time via the control law.
► The finite-time containment control problem with multiple leaders can also be solved.