Finite-Time Group Consensus for Second-Order Multi-agent Systems with Input Saturation

Finite-time group consensus problem with input saturation constraint is considered for a fleet of second-order multi-agent systems. The group consensus problem focuses on both cooperations and competitions among the interconnected subgroups and cooperations among agents belonging to the same subgroup. A novel finite-time group consensus protocol is designed, which contains a set of appropriate saturation functions. The utilization of the saturation functions does make sense in limiting the control input of agents. Instead of using the homogeneity theory to construct a homogeneous system, which can not give an accurate settling-time bound, subtly-designed Lyapunov functions are utilized to prove the finite-time stability and to estimate the finite settling time. Simulation examples illustrate the effectiveness of the theoretical results.