Finite-time consensus of double integrator multi-agent systems subject to input saturation

Abstract

This paper investigates the finite-time consensus problem for double integrator multi-agent systems where each agent is subject to input saturation. The global leader-following consensus can be achieved in finite time over directed and detail-balanced communication topology under the proposed control protocol, which employs a priori saturation in order to deal with the constraints imposed on the control input and simplify the analysis. Utilizing the tools from the algebraic graph theory, Lyapunov theory and homogeneity of system dynamics with dilation, we prove in a universal way that our designed consensus protocol can solve the global finite-time consensus problem. The effectiveness of the theoretical result is illustrated with numerical simulations.