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Finite-Time Consensus for Second-Order Multi-Agent Systems With Input Saturation
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DOI：10.1109/TCSII.2017.2759193.png)
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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.
Keyword:
Multi-agent systems
finite-time consensus
input saturation
leaderless consensus
leader-following consensus
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