Finite-time consensus of second-order multi-agent systems via auxiliary system approach

This paper investigates the problem of finite-time consensus protocols design for second-order multi-agent systems without velocity measurements. Based on the global finite-time stability theory of continuous systems and homogeneity with dilation, a new class of finite-time consensus (FTC) protocols are proposed for the multi-agent systems by the aid of an auxiliary system. Under the leader-following topological structure, the goal of FTC can be achieved when the velocity information is unavailable. Finally, two examples are given to verify the efficiency of the proposed method.