Finite-time Leader-following Consensus for Multiple Non-Holonomic Agents

In this paper, finite time leader-following consensus problem is discussed for multiple non-holonomic mobile agents. A novel distributed switching control strategy is proposed to guarantee finite-time leader-follower consensus of the multiple non-holonomic mobile agents with the help of time-rescalling technique, finite time Lyapunov theory and graph theory. The states of all the non-holonomic mobile follower agents can be made to reach consensus with the leader by tuning the time-rescalling parameters within any given finite setting time. The numerical simulations are presented to show the effectiveness of the given finite time consensus algorithms.